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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="description"
content="Radiance Fields for Robotic Teleoperation: a connection between Radiance Field generation and ROS for teleoperation.">
<meta name="keywords" content="Gaussian Splatting, robotics, ROS">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>Radiance Fields for Robotics</title>
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<section class="hero">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<h1 class="title is-1 publication-title">Radiance Fields for Robotic Teleoperation</h1>
<div class="is-size-5 publication-authors">
<span class="author-block">
Maximum Wilder-Smith<sup>1</sup>,</span>
<span class="author-block">
Vaishakh Patil<sup>1</sup>,</span>
<span class="author-block">
Marco Hutter<sup>1</sup>
</span>
</div>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>1</sup>ETH Zürich</span>
</div>
<div class="is-size-5 publication-authors">
<span class="publication-venue">
Accepted to IROS 2024 <span class="publication-awards"> [Oral]</span>
</span>
</div>
<div class="column has-text-centered">
<div class="publication-links">
<!-- PDF Link. -->
<span class="link-block">
<a href="https://arxiv.org/pdf/2407.20194" class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
</span>
<span class="link-block">
<a href="https://arxiv.org/abs/2407.20194" class="external-link button is-normal is-rounded is-dark" target="_blank">
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</span>
<span>arXiv</span>
</a>
</span>
<!-- Video Link. -->
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<a href="https://youtu.be/NR-X1FETJj8" class="external-link button is-normal is-rounded is-dark" target="_blank">
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<span>Video</span>
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<!-- Code Link. -->
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<a href="https://github.com/leggedrobotics/rf_ros" class="external-link button is-normal is-rounded is-dark" target="_blank">
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</span>
<span>ROS Node</span>
</a>
</span>
<span class="link-block">
<a href="https://github.com/leggedrobotics/unity_ros_teleoperation" class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>VR Teleoperation</span>
</a>
</span>
<!-- Dataset Link. -->
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="hero teaser">
<div class="container is-max-desktop">
<div class="hero-body">
<video id="hero-video" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/walk_stable.mp4" type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
Leverage Radiance Fields for robotic teleoperation by feeding live ROS data into Radiance Field training, and visualization. Compatible with standard RViz systems or with a novel VR visualization.
</h2>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<!-- Abstract. -->
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
Radiance field methods such as Neural Radiance Fields (NeRFs) or 3D Gaussian Splatting (3DGS), have
revolutionized graphics
and novel view synthesis. Their ability to synthesize new viewpoints with photo-realistic quality, as well
as capture complex
volumetric and specular scenes, makes them an ideal visualization for robotic teleoperation setups. Direct
camera teleoperation
provides high-fidelity operation at the cost of maneuverability, while reconstruction-based approaches
offer controllable
scenes with lower fidelity. With this in mind, we propose replacing the traditional
reconstruction-visualization components
of the robotic teleoperation pipeline with online Radiance Fields, offering highly maneuverable scenes
with photorealistic quality.
</p>
<p>
We present three main contributions to the state-of-the-art:
<ol>
<li>online training of Radiance Fields using live data from multiple cameras</li>
<li>support for a variety of radiance methods including NeRF and 3DGS</li>
<li>visualization suite for these methods including a virtual reality scene</li>
</ol>
</p>
<p>
Furthermore, to enable seamless integration with existing setups, these components were tested with
multiple robots in
multiple configurations and were displayed using traditional tools as well as the VR headset. The results
across methods
and robots were compared quantitatively to a baseline of mesh reconstruction, and a user study was
conducted to compare the
different visualization methods.
</p>
</div>
</div>
</div>
<!--/ Abstract. -->
<!-- Paper video. -->
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Video</h2>
<div class="publication-video">
<iframe src="https://www.youtube.com/embed/NR-X1FETJj8" frameborder="0" allow="autoplay; encrypted-media"
allowfullscreen></iframe>
</div>
</div>
</div>
<!--/ Paper video. -->
</div>
</section>
<!-- Components -->
<section class="section">
<div class="container is-max-desktop">
<!-- Pipeline -->
<div class="columns is-centered has-text-centered">
<div class="column">
<h3 class="title is-3">Pipeline</h3>
<img src="./static/images/Pipeline.png" />
<h2 class="subtitle has-text-centered">
Extend the existing ROS teleoperation pipeline to allow robotic data to feed into NerfStudio for Radiance
generation, as well as a visualization suite to view the reconstructions.
</h2>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop has-text-centered">
<div class="columns is-centered">
<div class="column is-full-width">
<div class="content">
<h3 class="title is-3">Robots</h3>
<p>
We tested our pipeline with three robots: Panda, Anymal, and Alma. Each robot has different
configurations and sensors, which allowed us to test the pipeline with a variety of data sources.
</p>
</div>
</div>
</div>
<div class="columns is-centered">
<div class="column is-5">
<h4 class="title is-4">Static Arm</h4>
<img src="./static/images/panda.jpg" alt="Panda" />
<p>
The Franka Panda arm is mounted to a table providing very accurate poses, but limited mobility when
capturing a table top scene.
</p>
</div>
<div class="column is-5">
<h4 class="title is-4">Mobile Base</h4>
<img src="./static/images/anymal.jpg" alt="anymal" />
<p>
The Anymal quadruped is a mobile base which was able to capture a room with a wooden pedistal in the middle,
but had noisy poses during locomotion.
</p>
</div>
<div class="column is-5">
<h4 class="title is-4">Mobile Arm</h4>
<img src="./static/images/almaswitch.jpg" alt="Alma" />
<p>
The ALMA system has utilizes and arm on a mobile base, providing a good balance of mobility and accuracy to
capture a cabinet.
</p>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column is-full-width">
<h3 class="title is-3">Reconstructions</h3>
<div class="content ">
<p>
We compared the reconstructions of the Radiance Fields with a baseline of mesh reconstruction. The
Radiance Fields were generated using NeRF and 3D Gaussian Splatting. Three different datasets compare
reconstruction of a table top scene, a room captured by the mobile Anymal, and a cabinet captured using
the arm on a mobile manipulator.
</p>
<table>
<thead>
<tr>
<th>Ground Truth</th>
<th>Voxblox</th>
<th>NeRF</th>
<th>3D Gaussian Splat</th>
</tr>
</thead>
<tbody>
<tr>
<td><img src="./static/images/panda-gt.png" alt="Panda GT"></td>
<td><img src="./static/images/panda-vox.jpg" alt="Panda Voxblox"></td>
<td><img src="./static/images/panda-nerf.png" alt="Panda NeRF"></td>
<td><img src="./static/images/panda-splat.png" alt="Panda 3DGS"></td>
</tr>
<tr>
<td><img src="./static/images/anymal-gt.png" alt="Anymal GT"></td>
<td><img src="./static/images/anymal-vox.jpg" alt="Anymal Voxblox"></td>
<td><img src="./static/images/anymal-nerf.png" alt="Anymal NeRF"></td>
<td><img src="./static/images/anymal-splat.png" alt="Anymal 3DGS"></td>
</tr>
<tr>
<td><img src="./static/images/alma-gt.png" alt="Alma GT"></td>
<td><img src="./static/images/alma-vox.jpg" alt="Alma Voxblox"></td>
<td><img src="./static/images/alma-nerf.png" alt="Alma NeRF"></td>
<td><img src="./static/images/alma-splat.png" alt="Alma 3DGS"></td>
</tr>
</tbody>
</table>
</div>
</div>
</div>
</section>
<!-- Viz -->
<section class="section">
<div class="container is-max-desktop">
<div class="content has-text-centered">
<h3 class="title is-3">Visualization</h3>
<p>
The Radiance Fields can be visualized in a variety of ways, from traditional RViz to a VR scene.
</p>
</div>
<div class="columns is-centered">
<div class="column">
<div class="content">
<h4 class="title is-4">RViz</h4>
<video id="rviz-video" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/rviz.mp4" type="video/mp4">
</video>
<p>
For integration with existing ROS teleoperation systems, an RViz plugin can display Radiance Fields
along side robot data.
</p>
</div>
</div>
<div class="column">
<div class="content">
<h4 class="title is-4">VR Scene</h4>
<video id="vr-video" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/vr_viz.mp4" type="video/mp4">
</video>
<p>
For more immersive interaction, a VR visualization suite can be used to view the Radiance Fields and
robots in 3D. The VR scene also displays
</p>
</div>
</div>
</div>
</div>
</section>
<section class="section" id="BibTeX">
<div class="container is-max-desktop content">
<h2 class="title">BibTeX</h2>
<pre><code>@article{wildersmith2024rfteleoperation,
author = {Maximum Wilder-Smith, Vaishakh Patil, Marco Hutter},
title = {Radiance Fields for Robotic Teleoperation},
journal = {arXiv},
year = {2024},
}</code></pre>
</div>
</section>
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We thank the authors of <a href="https://github.com/nerfies/nerfies.github.io">Nerfies</a> for kindly
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