RecGen achieves state-of-the-art 3D multi-object scene reconstruction from sparse RGB-D views by combining compositional synthetic scene generation with strong 3D shape priors, outperforming SAM3D by 30%+ in shape quality and pose accuracy while using 80% fewer meshes.
Graspsplats: Efficient manipulation with 3d feature splatting
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GAF creates 4D dynamic scene models by adding motion to 3D Gaussians, enabling better reconstruction and 7.3% higher success in robotic tasks.
PhysGraph reconstructs object-centric 3D geometry from RGB-D, decomposes objects into parts, infers materials and articulations via visual reasoning, and reports SOTA results on semantic segmentation, multi-object mass estimation, and articulation prediction.
Language-guided object-centric completion plus execution-aware grasp selection raised real Spot grasp success from 3/10 to 9/10 under partial observation in cluttered tabletop scenes.
A survey compiling principles, applications, benchmarks, and challenges of 3D Gaussian Splatting for explicit 3D scene representation.
citing papers explorer
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Reconstruction by Generation: 3D Multi-Object Scene Reconstruction from Sparse Observations
RecGen achieves state-of-the-art 3D multi-object scene reconstruction from sparse RGB-D views by combining compositional synthetic scene generation with strong 3D shape priors, outperforming SAM3D by 30%+ in shape quality and pose accuracy while using 80% fewer meshes.
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GAF: Gaussian Action Field as a 4D Representation for Dynamic World Modeling in Robotic Manipulation
GAF creates 4D dynamic scene models by adding motion to 3D Gaussians, enabling better reconstruction and 7.3% higher success in robotic tasks.
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PhysGraph: A Physics-aware 3D Scene Graph for Perception and Reasoning
PhysGraph reconstructs object-centric 3D geometry from RGB-D, decomposes objects into parts, infers materials and articulations via visual reasoning, and reports SOTA results on semantic segmentation, multi-object mass estimation, and articulation prediction.
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Language-Guided Grasping under Partial Observation for Mobile Manipulation in Field Inspection and Maintenance
Language-guided object-centric completion plus execution-aware grasp selection raised real Spot grasp success from 3/10 to 9/10 under partial observation in cluttered tabletop scenes.
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A Survey on 3D Gaussian Splatting
A survey compiling principles, applications, benchmarks, and challenges of 3D Gaussian Splatting for explicit 3D scene representation.