4 papers
Morphology-Aware Graph Reinforcement Learning for Tensegrity Robot Locomotion
Chi Zhang, Mingrui Li, Wenzhe Tong +1
Tensegrity robots combine rigid rods and elastic cables, offering high resilience and deployability but at the same time posing major challenges for locomotion control due to their…
MG-SLAM: Structure Gaussian Splatting SLAM with Manhattan World Hypothesis
Shuhong Liu, Tianchen Deng, Heng Zhou +4
Gaussian Splatting SLAMs have made significant advancements in improving the efficiency and fidelity of real-time reconstructions. However, these systems often encounter incomplete…
What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Models
Tianchen Deng, Yue Pan, Shenghai Yuan +10
In this paper, we provide a comprehensive overview of existing scene representation methods for robotics, covering traditional representations such as point clouds, voxels, signed…
DeRainGS: Gaussian Splatting for Enhanced Scene Reconstruction in Rainy Environments
Shuhong Liu, Xiang Chen, Hongming Chen +2
Reconstruction under adverse rainy conditions poses significant challenges due to reduced visibility and the distortion of visual perception. These conditions can severely impair t…