Distilled Feature Fields Enable Few-Shot Language-Guided Manipulation

27 July 2023

Papers citing "Distilled Feature Fields Enable Few-Shot Language-Guided Manipulation"

50 / 93 papers shown

Title
GrowSplat: Constructing Temporal Digital Twins of Plants with Gaussian Splats S. Adebola Shuangyu Xie C. Kim J. Kerr Bart M. van Marrewijk ... Robert van Loo Jose Luis Susa Rincon Eugen Solowjow Rick van de Zedde Ken Goldberg 3DGS 12 0 0 16 May 2025
SLAG: Scalable Language-Augmented Gaussian Splatting Laszlo Szilagyi Francis Engelmann Jeannette Bohg 3DGS 45 0 0 12 May 2025
Prompt-responsive Object Retrieval with Memory-augmented Student-Teacher Learning Malte Mosbach Sven Behnke 31 0 0 04 May 2025
A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AI Lik Hang Kenny Wong Xueyang Kang Kaixin Bai Jianwei Zhang 56 0 0 01 May 2025
ZeroGrasp: Zero-Shot Shape Reconstruction Enabled Robotic Grasping Shun Iwase Zubair Irshad Katherine Liu Vitor Campagnolo Guizilini Robert Lee ... Ayako Amma Koichi Nishiwaki Kris M. Kitani Rares Ambrus Sergey Zakharov 29 0 0 15 Apr 2025
Segment then Splat: A Unified Approach for 3D Open-Vocabulary Segmentation based on Gaussian Splatting Yiren Lu Yunlai Zhou Yiran Qiao Chaoda Song Tuo Liang Jing Ma Yu Yin 3DGS 36 0 0 28 Mar 2025
Semantic Consistent Language Gaussian Splatting for Point-Level Open-vocabulary Querying Hairong Yin Huangying Zhan Yi Tian Xu Raymond A. Yeh 43 0 0 27 Mar 2025
Learning 3D Scene Analogies with Neural Contextual Scene Maps Junho Kim Gwangtak Bae E. Lee Young Min Kim 3DPC 3DV 62 0 0 20 Mar 2025
GauRast: Enhancing GPU Triangle Rasterizers to Accelerate 3D Gaussian Splatting Sixu Li Ben Keller Yingyan Lin Brucek Khailany 3DGS 44 0 0 20 Mar 2025
M3: 3D-Spatial MultiModal Memory Xueyan Zou Yuchen Song Ri-Zhao Qiu Xuanbin Peng Jianglong Ye Sifei Liu Xiaolong Wang 3DGS 54 0 0 20 Mar 2025
Deblur Gaussian Splatting SLAM Francesco Girlanda D. Rozumnyi Marc Pollefeys Martin R. Oswald 3DGS 50 0 0 16 Mar 2025
Prof. Robot: Differentiable Robot Rendering Without Static and Self-Collisions Quanyuan Ruan Jiabao Lei Wenhao Yuan Y. Zhang Dekun Lu Guiliang Liu Kui Jia 70 0 0 14 Mar 2025
4D LangSplat: 4D Language Gaussian Splatting via Multimodal Large Language Models Wanhua Li Renping Zhou Jiawei Zhou Yingwei Song Johannes Herter Minghan Qin Gao Huang Hanspeter Pfister 3DGS VLM 66 0 0 13 Mar 2025
Efficient Alignment of Unconditioned Action Prior for Language-conditioned Pick and Place in Clutter Kechun Xu Xunlong Xia Kaixuan Wang Yifei Yang Yunxuan Mao Bing Deng R. Xiong Y. Wang OffRL 69 0 0 12 Mar 2025
Vector Quantized Feature Fields for Fast 3D Semantic Lifting George Tang Aditya Agarwal Weiqiao Han Trevor Darrell Yutong Bai 41 0 0 09 Mar 2025
Persistent Object Gaussian Splat (POGS) for Tracking Human and Robot Manipulation of Irregularly Shaped Objects Justin Yu Kush Hari Karim El-Refai Arnav Dalal J. Kerr C. Kim Richard Cheng Muhammad Zubair Irshad Ken Goldberg 56 3 0 07 Mar 2025
LensDFF: Language-enhanced Sparse Feature Distillation for Efficient Few-Shot Dexterous Manipulation Qian Feng David S. Martinez Lema Jianxiang Feng Zhaopeng Chen Alois C. Knoll 39 0 0 05 Mar 2025
Enhancing Monocular 3D Scene Completion with Diffusion Model Changlin Song Jiaqi Wang Liyun Zhu He Weng 3DGS 38 0 0 02 Mar 2025
Enhancing Reusability of Learned Skills for Robot Manipulation via Gaze and Bottleneck Ryo Takizawa Izumi Karino Koki Nakagawa Y. Ohmura Y. Kuniyoshi 77 1 0 25 Feb 2025
Pointmap Association and Piecewise-Plane Constraint for Consistent and Compact 3D Gaussian Segmentation Field Wenhao Hu Wenhao Chai Shengyu Hao Xiaotong Cui Xuexiang Wen Jenq-Neng Hwang Gaoang Wang 3DV 56 0 0 22 Feb 2025
SIREN: Semantic, Initialization-Free Registration of Multi-Robot Gaussian Splatting Maps Ola Shorinwa Jiankai Sun Mac Schwager Anirudha Majumdar 3DGS 77 3 0 10 Feb 2025
Lifting by Gaussians: A Simple, Fast and Flexible Method for 3D Instance Segmentation Rohan Chacko Nicolai Haeni Eldar Khaliullin Lin Sun Douglas Lee 3DGS 42 1 0 31 Jan 2025
GSemSplat: Generalizable Semantic 3D Gaussian Splatting from Uncalibrated Image Pairs Xingrui Wang Cuiling Lan Hanxin Zhu Zhibo Chen Yan Lu 3DGS 91 1 0 22 Dec 2024
SparseGrasp: Robotic Grasping via 3D Semantic Gaussian Splatting from Sparse Multi-View RGB Images Junqiu Yu Xinlin Ren Yongchong Gu Haitao Lin Tianyu Wang Y. X. Zhu Hang Xu Yu-Gang Jiang Xiangyang Xue Yanwei Fu 3DGS 81 0 0 03 Dec 2024
G3Flow: Generative 3D Semantic Flow for Pose-aware and Generalizable Object Manipulation Tianxing Chen Yao Mu Zhixuan Liang Z. Chen Shijia Peng ... Mingkun Xu R. Hu H. Zhang Xuelong Li Ping Luo AI4CE 102 8 0 27 Nov 2024
Find Any Part in 3D Ziqi Ma Yisong Yue Georgia Gkioxari 3DPC 115 3 0 20 Nov 2024
Task-Oriented Hierarchical Object Decomposition for Visuomotor Control Jianing Qian Yunshuang Li Bernadette Bucher Dinesh Jayaraman OCL 44 0 0 02 Nov 2024
Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer Tyler Ga Wei Lum Albert H. Li Preston Culbertson K. Srinivasan Aaron D. Ames Mac Schwager Jeannette Bohg 40 2 0 31 Oct 2024
Neural Fields in Robotics: A Survey Muhammad Zubair Irshad Mauro Comi Yen-Chen Lin Nick Heppert Abhinav Valada Rares Ambrus Z. Kira Jonathan Tremblay AI4CE 48 3 0 26 Oct 2024
Large Spatial Model: End-to-end Unposed Images to Semantic 3D Zhiwen Fan Jian Zhang Wenyan Cong Peihao Wang Renjie Li ... Z. Wang Danfei Xu B. Ivanovic Marco Pavone Yue Wang 3DV 41 11 0 24 Oct 2024
PLGS: Robust Panoptic Lifting with 3D Gaussian Splatting Yu Wang Xiaobao Wei Ming Lu Guoliang Kang 3DGS 31 5 0 23 Oct 2024
MSGField: A Unified Scene Representation Integrating Motion, Semantics, and Geometry for Robotic Manipulation Yu Sheng Runfeng Lin L. Wang Quecheng Qiu Yanyong Zhang Yu Zhang Bei Hua Jianmin Ji 3DV 3DGS 31 0 0 21 Oct 2024
Dynamic Open-Vocabulary 3D Scene Graphs for Long-term Language-Guided Mobile Manipulation Zhijie Yan Shufei Li Z. Wang Lixiu Wu Han Wang Jun Zhu Lijiang Chen Jihong Liu 39 1 0 15 Oct 2024
LVD-2M: A Long-take Video Dataset with Temporally Dense Captions Tianwei Xiong Yuqing Wang Daquan Zhou Zhijie Lin Jiashi Feng Xihui Liu VGen 28 7 0 14 Oct 2024
Gaussian Splatting Visual MPC for Granular Media Manipulation Wei-Cheng Tseng Ellina Zhang Krishna Murthy Jatavallabhula Florian Shkurti 3DGS 31 0 0 13 Oct 2024
Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstruction Justin Kerr C. Kim Mingxuan Wu Brent Yi Qianqian Wang Ken Goldberg Angjoo Kanazawa 23 13 0 26 Sep 2024
Language-Embedded Gaussian Splats (LEGS): Incrementally Building Room-Scale Representations with a Mobile Robot Justin Yu Kush Hari Kishore Srinivas Karim El-Refai Adam Rashid ... Richard Cheng Muhammad Zubair Irshad Ashwin Balakrishna Thomas Kollar Ken Goldberg 3DGS 27 8 0 26 Sep 2024
HiFi-CS: Towards Open Vocabulary Visual Grounding For Robotic Grasping Using Vision-Language Models V. Bhat P. Krishnamurthy Ramesh Karri Farshad Khorrami 46 3 0 16 Sep 2024
ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching Niklas Funk Julen Urain João Carvalho V. Prasad Georgia Chalvatzaki Jan Peters 47 5 0 06 Sep 2024
GraspSplats: Efficient Manipulation with 3D Feature Splatting Mazeyu Ji Ri-Zhao Qiu Xueyan Zou Xiaolong Wang 3DGS 39 18 0 03 Sep 2024
Learning Instruction-Guided Manipulation Affordance via Large Models for Embodied Robotic Tasks Dayou Li Chenkun Zhao Shuo Yang Lin Ma Yibin Li Wei Zhang LM&Ro 30 1 0 20 Aug 2024
Learning Precise Affordances from Egocentric Videos for Robotic Manipulation Gen Li Nikolaos Tsagkas Jifei Song Ruaridh Mon-Williams S. Vijayakumar Kun Shao Laura Sevilla-Lara 36 7 0 19 Aug 2024
DEF-oriCORN: efficient 3D scene understanding for robust language-directed manipulation without demonstrations Dongwon Son Sanghyeon Son Jaehyung Kim Beomjoon Kim LM&Ro 42 0 0 31 Jul 2024
Improving 2D Feature Representations by 3D-Aware Fine-Tuning Yuanwen Yue Anurag Das Francis Engelmann Siyu Tang J. E. Lenssen 48 24 0 29 Jul 2024
I $^2$ -SLAM: Inverting Imaging Process for Robust Photorealistic Dense SLAM Gwangtak Bae Changwoon Choi Hyeongjun Heo Sang Min Kim Young Min Kim 29 3 0 16 Jul 2024
Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI Y. Liu Weixing Chen Yongjie Bai Xiaodan Liang Guanbin Li Wen Gao Liang Lin LM&Ro SyDa AI4CE 51 50 0 09 Jul 2024
Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning Yixiao Wang Yifei Zhang Mingxiao Huo Ran Tian Xiang Zhang ... Chenfeng Xu Pengliang Ji Wei Zhan Mingyu Ding M. Tomizuka MoE 36 18 0 01 Jul 2024
3D Feature Distillation with Object-Centric Priors Georgios Tziafas Yucheng Xu Zhibin Li H. Kasaei 34 1 0 26 Jun 2024
Open-vocabulary Pick and Place via Patch-level Semantic Maps Mingxi Jia Haojie Huang Zhewen Zhang Chenghao Wang Linfeng Zhao Dian Wang J. Liu Robin Walters Robert Platt Stefanie Tellex LM&Ro 44 5 0 21 Jun 2024
HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation Jin Wang Rui Dai Weijie Wang Luca Rossini Francesco Ruscelli Nikos Tsagarakis 39 4 0 20 Jun 2024