3 papers
cs.RO2025
Botany-Bot: Digital Twin Monitoring of Occluded and Underleaf Plant Structures with Gaussian Splats
Simeon Adebola, Chung Min Kim, Justin Kerr +5
Commercial plant phenotyping systems using fixed cameras cannot perceive many plant details due to leaf occlusion. In this paper, we present Botany-Bot, a system for building detai…
cs.RO2025
Omni-Scan: Creating Visually-Accurate Digital Twin Object Models Using a Bimanual Robot with Handover and Gaussian Splat Merging
Tianshuang Qiu, Zehan Ma, Karim El-Refai +4
3D Gaussian Splats (3DGSs) are 3D object models derived from multi-view images. Such "digital twins" are useful for simulations, virtual reality, marketing, robot policy fine-tunin…
cs.RO2025
PyRoki: A Modular Toolkit for Robot Kinematic Optimization
Chung Min Kim, Brent Yi, Hongsuk Choi +3
Robot motion can have many goals. Depending on the task, we might optimize for pose error, speed, collision, or similarity to a human demonstration. Motivated by this, we present P…