4 papers
Learning Surgical Robotic Manipulation with 3D Spatial Priors
Yu Sheng, Lidian Wang, Xiaomeng Chu +6
Achieving 3D spatial awareness is crucial for surgical robotic manipulation, where precise and delicate operations are required. Existing methods either explicitly reconstruct the…
ElectricSight: 3D Hazard Monitoring for Power Lines Using Low-Cost Sensors
Xingchen Li, LiDian Wang, Yu Sheng +6
Protecting power transmission lines from potential hazards involves critical tasks, one of which is the accurate measurement of distances between power lines and potential threats,…
SpatialSplat: Efficient Semantic 3D from Sparse Unposed Images
Yu Sheng, Jiajun Deng, Xinran Zhang +4
A major breakthrough in 3D reconstruction is the feedforward paradigm to generate pixel-wise 3D points or Gaussian primitives from sparse, unposed images. To further incorporate se…
MSGField: A Unified Scene Representation Integrating Motion, Semantics, and Geometry for Robotic Manipulation
Yu Sheng, Runfeng Lin, Lidian Wang +5
Combining accurate geometry with rich semantics has been proven to be highly effective for language-guided robotic manipulation. Existing methods for dynamic scenes either fail to…