8 papers
PhysGraph: Physically-Grounded Graph-Transformer Policies for Bimanual Dexterous Hand-Tool-Object Manipulation
Runfa Blark Li, David Kim, Xinshuang Liu +7
Bimanual dexterous manipulation for tool use remains a formidable challenge in robotics due to the high-dimensional state space and complicated contact dynamics. Existing methods n…
MATT-Diff: Multimodal Active Target Tracking by Diffusion Policy
Saida Liu, Nikolay Atanasov, Shumon Koga
This paper proposes MATT-Diff: Multimodal Active Target Tracking by Diffusion Policy, a control policy for active multi-target tracking using a mobile agent. The policy enables mul…
MISO: Multiresolution Submap Optimization for Efficient Globally Consistent Neural Implicit Reconstruction
Yulun Tian, Hanwen Cao, Sunghwan Kim +1
Neural implicit representations have had a significant impact on simultaneous localization and mapping (SLAM) by enabling robots to build continuous, differentiable, and high-fidel…
DynaGSLAM: Real-Time Gaussian-Splatting SLAM for Online Rendering, Tracking, Motion Predictions of Moving Objects in Dynamic Scenes
Runfa Blark Li, Mahdi Shaghaghi, Keito Suzuki +8
Simultaneous Localization and Mapping (SLAM) is one of the most important environment-perception and navigation algorithms for computer vision, robotics, and autonomous cars/drones…
Importance Sampling With Stochastic Particle Flow and Diffusion Optimization
Wenyu Zhang, Mohammad J. Khojasteh, Nikolay A. Atanasov +1
Particle flow (PFL) is an effective method for overcoming particle degeneracy, the main limitation of particle filtering. In PFL, particles are migrated towards regions of high lik…
SplatSDF: Boosting SDF-NeRF via Architecture-Level Fusion with Gaussian Splats
Runfa Blark Li, Keito Suzuki, Bang Du +3
Signed distance-radiance field (SDF-NeRF) is a promising environment representation that offers both photo-realistic rendering and geometric reasoning such as proximity queries for…