8 papers
AutoDex: An Automated Real-World System for Dexterous Grasping Data Collection
Mingi Choi, Gunhee Kim, Jisoo Kim +4
Learning robust dexterous grasping requires real-world data that records the physical outcomes of grasp attempts. Such data is hard to obtain at scale: teleoperation yields valid p…
OmniRobotHome: A Multi-Camera Home Platform for Real-Time Human-Robot Interaction
Junyoung Lee, Inhee Lee, Sookwan Han +9
Robots that assist people must respond promptly and appropriately to human activity, which requires low-latency processing, accurate perception, and anticipation of human motion. T…
Text-Guided 6D Object Pose Rearrangement via Closed-Loop VLM Agents
Sangwon Baik, Gunhee Kim, Mingi Choi +1
Vision-Language Models (VLMs) exhibit strong visual reasoning capabilities, yet they still struggle with 3D understanding. In particular, VLMs often fail to infer a text-consistent…
Gaussian Blending: Rethinking Alpha Blending in 3D Gaussian Splatting
Junseo Koo, Jinseo Jeong, Gunhee Kim
The recent introduction of 3D Gaussian Splatting (3DGS) has significantly advanced novel view synthesis. Several studies have further improved the rendering quality of 3DGS, yet th…
See It All: Contextualized Late Aggregation for 3D Dense Captioning
Minjung Kim, Hyung Suk Lim, Seung Hwan Kim +3
3D dense captioning is a task to localize objects in a 3D scene and generate descriptive sentences for each object. Recent approaches in 3D dense captioning have adopted transforme…
Bi-directional Contextual Attention for 3D Dense Captioning
Minjung Kim, Hyung Suk Lim, Soonyoung Lee +2
3D dense captioning is a task involving the localization of objects and the generation of descriptions for each object in a 3D scene. Recent approaches have attempted to incorporat…
ESR-NeRF: Emissive Source Reconstruction Using LDR Multi-view Images
Jinseo Jeong, Junseo Koo, Qimeng Zhang +1
Existing NeRF-based inverse rendering methods suppose that scenes are exclusively illuminated by distant light sources, neglecting the potential influence of emissive sources withi…
EP2P-Loc: End-to-End 3D Point to 2D Pixel Localization for Large-Scale Visual Localization
Minjung Kim, Junseo Koo, Gunhee Kim
Visual localization is the task of estimating a 6-DoF camera pose of a query image within a provided 3D reference map. Thanks to recent advances in various 3D sensors, 3D point clo…