5 papers
HumanSplatHMR: Closing the Loop Between Human Mesh Recovery and Gaussian Splatting Avatar
Yeheng Zong, Pou-Chun Kung, Yike Pan +4
Accurately recovering human pose and appearance from video is an essential component of scene reconstruction, with applications to motion capture, motion prediction, virtual realit…
TrackDeform3D: Markerless and Autonomous 3D Keypoint Tracking and Dataset Collection for Deformable Objects
Yeheng Zong, Yizhou Chen, Alexander Bowler +2
Structured 3D representations such as keypoints and meshes offer compact, expressive descriptions of deformable objects, jointly capturing geometric and topological information use…
SLIM-VDB: A Real-Time 3D Probabilistic Semantic Mapping Framework
Anja Sheppard, Parker Ewen, Joey Wilson +6
This paper introduces SLIM-VDB, a new lightweight semantic mapping system with probabilistic semantic fusion for closed-set or open-set dictionaries. Advances in data structures fr…
DEFT: Differentiable Branched Discrete Elastic Rods for Modeling Furcated DLOs in Real-Time
Yizhou Chen, Xiaoyue Wu, Yeheng Zong +4
Autonomous wire harness assembly requires robots to manipulate complex branched cables with high precision and reliability. A key challenge in automating this process is predicting…
Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects
Yizhou Chen, Yiting Zhang, Zachary Brei +4
This paper addresses the task of modeling Deformable Linear Objects (DLOs), such as ropes and cables, during dynamic motion over long time horizons. This task presents significant…