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Longteng Duan

Publications and source records attributed to Longteng Duan.

2 recordsLinked to original sources

MoGA: 3D Generative Avatar Prior for Monocular Gaussian Avatar Reconstruction

We present MoGA, a novel method to reconstruct high-fidelity 3D Gaussian avatars from a single-view image. The main challenge lies in inferring unseen appearance and geometric details while ensuring 3D consistency and realism. Most previous methods rely on 2D diffusion models to synthesize unseen views; however, these generated views are sparse and inconsistent, resulting in unrealistic 3D artifacts and blurred appearance. To address these limitations, we leverage a generative avatar model, that can generate diverse 3D avatars by sampling deformed Gaussians from a learned prior distribution. Due to limited 3D training data, such a 3D model alone cannot capture all image details of unseen identities. Consequently, we integrate it as a prior, ensuring 3D consistency by projecting input images into its latent space and enforcing additional 3D appearance and geometric constraints. Our novel approach formulates Gaussian avatar creation as model inversion by fitting the generative avatar to synthetic views from 2D diffusion models. The generative avatar provides an initialization for model fitting, enforces 3D regularization, and helps in refining pose. Experiments show that our method surpasses state-of-the-art techniques and generalizes well to real-world scenarios. Our Gaussian avatars are also inherently animatable. For code, see https://zj-dong.github.io/MoGA/.

cs.CV

EgoSpot:Egocentric Multimodal Control for Hands-Free Mobile Manipulation

We propose a novel hands-free control framework for the Boston Dynamics Spot robot using the Microsoft HoloLens 2 mixed-reality headset. Enabling accessible robot control is critical for allowing individuals with physical disabilities to benefit from robotic assistance in daily activities, teleoperation, and remote interaction tasks. However, most existing robot control interfaces rely on manual input devices such as joysticks or handheld controllers, which can be difficult or impossible for users with limited motor capabilities. To address this limitation, we develop an intuitive multimodal control system that leverages egocentric sensing from a wearable device. Our system integrates multiple control signals, including eye gaze, head gestures, and voice commands, to enable hands-free interaction. These signals are fused to support real-time control of both robot locomotion and arm manipulation. Experimental results show that our approach achieves performance comparable to traditional joystick-based control in terms of task completion time and user experience, while significantly improving accessibility and naturalness of interaction. Our results highlight the potential of egocentric multimodal interfaces to make mobile manipulation robots more inclusive and usable for a broader population. A demonstration of the system is available on our project webpage.

cs.RO