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curobo: Parallelized collision-free minimum-jerk robot motion generation
This paper explores the problem of collision-free motion generation for manipulators by
formulating it as a global motion optimization problem. We develop a parallel optimization …
formulating it as a global motion optimization problem. We develop a parallel optimization …
DFields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Robotic Manipulation
Scene representation has been a crucial design choice in robotic manipulation systems. An
ideal representation should be 3D, dynamic, and semantic to meet the demands of diverse …
ideal representation should be 3D, dynamic, and semantic to meet the demands of diverse …
Handal: A dataset of real-world manipulable object categories with pose annotations, affordances, and reconstructions
We present the HANDAL dataset for category-level object pose estimation and affordance
prediction. Unlike previous datasets, ours is focused on robotics-ready manipulable objects …
prediction. Unlike previous datasets, ours is focused on robotics-ready manipulable objects …
Nerf in robotics: A survey
Meticulous 3D environment representations have been a longstanding goal in computer
vision and robotics fields. The recent emergence of neural implicit representations has …
vision and robotics fields. The recent emergence of neural implicit representations has …
Nerfdeformer: Nerf transformation from a single view via 3d scene flows
We present a method for automatically modifying a NeRF representation based on a single
observation of a non-rigid transformed version of the original scene. Our method defines the …
observation of a non-rigid transformed version of the original scene. Our method defines the …
Baa-ngp: Bundle-adjusting accelerated neural graphics primitives
Implicit neural representations have become pivotal in robotic perception enabling robots to
comprehend 3D environments from 2D images. Given a set of camera poses and associated …
comprehend 3D environments from 2D images. Given a set of camera poses and associated …
Handnerf: Learning to reconstruct hand-object interaction scene from a single rgb image
This paper presents a method to learn hand-object interaction prior for reconstructing a 3D
hand-object scene from a single RGB image. The inference as well as training-data …
hand-object scene from a single RGB image. The inference as well as training-data …
DFields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangement
Scene representation is a crucial design choice in robotic manipulation systems. An ideal
representation is expected to be 3D, dynamic, and semantic to meet the demands of diverse …
representation is expected to be 3D, dynamic, and semantic to meet the demands of diverse …
Gumbel-NeRF: Representing Unseen Objects as Part-Compositional Neural Radiance Fields
We propose Gumbel-NeRF, a mixture-of-expert (MoE) neural radiance fields (NeRF) model
with a hindsight expert selection mechanism for synthesizing novel views of unseen objects …
with a hindsight expert selection mechanism for synthesizing novel views of unseen objects …
An Overview of NeRF Methods for Aerial Robotics
Neural Radiance Fields (NeRF) have rapidly become the state-of-the-art technique for
generating new synthetic views. This is not surprising as NeRF has joined the wave of works …
generating new synthetic views. This is not surprising as NeRF has joined the wave of works …