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TactSpace: Learning a Physics-enriched Shared Latent Space for Tactile Sim-to-Real Transfer
Arunim Joarder, Arjun Bhardwaj, René Zurbrügg +6
Tactile sensing provides direct measurements of contact interactions that are essential for robotic manipulation. However, current simulators lack the fidelity to faithfully model…
ViserDex: Visual Sim-to-Real for Robust Dexterous In-hand Reorientation
Arjun Bhardwaj, Maximum Wilder-Smith, Mayank Mittal +2
In-hand object reorientation requires precise estimation of the object pose to handle complex task dynamics. While RGB sensing offers rich semantic cues for pose tracking, existing…
DiskChunGS: Large-Scale 3D Gaussian SLAM Through Chunk-Based Memory Management
Casimir Feldmann, Maximum Wilder-Smith, Vaishakh Patil +4
Recent advances in 3D Gaussian Splatting (3DGS) have demonstrated impressive results for novel view synthesis with real-time rendering capabilities. However, integrating 3DGS with…
FOCI: Trajectory Optimization on Gaussian Splats
Mario Gomez Andreu, Maximum Wilder-Smith, Victor Klemm +3
3D Gaussian Splatting (3DGS) has recently gained popularity as a faster alternative to Neural Radiance Fields (NeRFs) in 3D reconstruction and view synthesis methods. Leveraging th…
Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Models
Mike Zhang, Kaixian Qu, Vaishakh Patil +2
Large Language Models (LLM) have emerged as a tool for robots to generate task plans using common sense reasoning. For the LLM to generate actionable plans, scene context must be p…
Radiance Fields for Robotic Teleoperation
Maximum Wilder-Smith, Vaishakh Patil, Marco Hutter
Radiance field methods such as Neural Radiance Fields (NeRFs) or 3D Gaussian Splatting (3DGS), have revolutionized graphics and novel view synthesis. Their ability to synthesize ne…
ICGNet: A Unified Approach for Instance-Centric Grasping
René Zurbrügg, Yifan Liu, Francis Engelmann +4
Accurate grasping is the key to several robotic tasks including assembly and household robotics. Executing a successful grasp in a cluttered environment requires multiple levels of…