7 papers
Modality Forcing for Scalable Spatial Generation
Bardienus Pieter Duisterhof, Deva Ramanan, Jeffrey Ichnowski +2
Text-to-image (T2I) models contain rich spatial priors. Synthesizing photorealistic, cluttered scenes requires an understanding of geometry, including perspective and relative scal…
3PoinTr: 3D Point Tracks for Learning Manipulation from Unconstrained Human Videos
Adam Hung, Bardienus Pieter Duisterhof, Jeffrey Ichnowski
Learning manipulation policies from human videos could greatly reduce the need for expensive robot demonstrations, but existing approaches typically require restrictive assumptions…
Wiggle and Go! System Identification for Zero-Shot Dynamic Rope Manipulation
Arthur Jakobsson, Abhinav Mahajan, Karthik Pullalarevu +6
Many robotic tasks are unforgiving; a single mistake in a dynamic throw can lead to unacceptable delays or unrecoverable failure. To mitigate this, we present a novel approach that…
Hearing the Slide: Acoustic-Guided Constraint Learning for Fast Non-Prehensile Transport
Yuemin Mao, Bardienus P. Duisterhof, Moonyoung Lee +1
Object transport tasks are fundamental in robotic automation, emphasizing the importance of efficient and secure methods for moving objects. Non-prehensile transport can significan…
RaySt3R: Predicting Novel Depth Maps for Zero-Shot Object Completion
Bardienus P. Duisterhof, Jan Oberst, Bowen Wen +3
3D shape completion has broad applications in robotics, digital twin reconstruction, and extended reality (XR). Although recent advances in 3D object and scene completion have achi…
DynOMo: Online Point Tracking by Dynamic Online Monocular Gaussian Reconstruction
Jenny Seidenschwarz, Qunjie Zhou, Bardienus Duisterhof +2
Reconstructing scenes and tracking motion are two sides of the same coin. Tracking points allow for geometric reconstruction [14], while geometric reconstruction of (dynamic) scene…