13 papers
SV-GS: Sparse View 4D Reconstruction with Skeleton-Driven Gaussian Splatting
Jun-Jee Chao, Volkan Isler
Reconstructing a dynamic target moving over a large area is challenging. Standard approaches for dynamic object reconstruction require dense coverage in both the viewing space and…
Uncertainty Guided Exploratory Trajectory Optimization for Sampling-Based Model Predictive Control
O. Goktug Poyrazoglu, Yukang Cao, Rahul Moorthy +1
Trajectory optimization depends heavily on initialization. In particular, sampling-based approaches are highly sensitive to initial solutions, and limited exploration frequently le…
Fast Navigation Through Occluded Spaces via Language-Conditioned Map Prediction
Rahul Moorthy Mahesh, Oguzhan Goktug Poyrazoglu, Yukang Cao +1
In cluttered environments, motion planners often face a trade-off between safety and speed due to uncertainty caused by occlusions and limited sensor range. In this work, we invest…
VisDiff: SDF-Guided Polygon Generation for Visibility Reconstruction and Recognition
Rahul Moorthy, Jun-Jee Chao, Volkan Isler
The ability to capture rich representations of combinatorial structures has enabled the application of machine learning to tasks such as analysis and generation of floorplans, terr…
C-Free-Uniform: A Map-Conditioned Trajectory Sampler for Model Predictive Path Integral Control
Yukang Cao, Rahul Moorthy, O. Goktug Poyrazoglu +1
Trajectory sampling is a key component of sampling-based control mechanisms. Trajectory samplers rely on control input samplers, which generate control inputs u from a distribution…
Part Segmentation and Motion Estimation for Articulated Objects with Dynamic 3D Gaussians
Jun-Jee Chao, Qingyuan Jiang, Volkan Isler
Part segmentation and motion estimation are two fundamental problems for articulated object motion analysis. In this paper, we present a method to solve these two problems jointly…