3 papers
cs.LG2026
3D-DLP: Self-Supervised 3D Object-Centric Scene Representation Learning
Ellina Zhang, Madhaven Iyengar, Amir Zadeh +4
We introduce 3D-DLP, a self-supervised object-centric representation learning model that decomposes scene-level RGB-D or voxel observations into a set of 3D latent particles. Build…
cs.RO2025
aUToPath: Unified Planning and Control for Autonomous Vehicles in Urban Environments Using Hybrid Lattice and Free-Space Search
Tanmay P. Patel, Connor Wilson, Ellina R. Zhang +4
This paper presents aUToPath, a unified online framework for global path-planning and control to address the challenge of autonomous navigation in cluttered urban environments. A k…
cs.RO2025
Gaussian Splatting Visual MPC for Granular Media Manipulation
Wei-Cheng Tseng, Ellina Zhang, Krishna Murthy Jatavallabhula +1
Recent advancements in learned 3D representations have enabled significant progress in solving complex robotic manipulation tasks, particularly for rigid-body objects. However, man…