publications

list of publications ordered by year

2025

  1. rola.png
    Robot Learning from Any Images
    Siheng Zhao, Jiageng Mao, Wei Chow, and 11 more authors
    In CoRL, 2025
    Website
  2. steerable.gif
    Steerable Scene Generation with Post Training and Inference-Time Search
    Nicholas Pfaff, Hongkai Dai, Sergey Zakharov, and 2 more authors
    In CoRL, 2025
    PDF Code Website
  3. lbm.gif
    A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation
    TRI LBM Team, Jose Barreiros, Andrew Beaulieu, and 79 more authors
    In arXiv, 2025
    PDF Website
  4. zerograsp.gif
    ZeroGrasp: Zero-Shot Shape Reconstruction Enabled Robotic Grasping
    Shun Iwase, Muhammad Zubair Irshad, Katherine Liu, and 8 more authors
    In CVPR, 2025
    PDF Code Website
  5. omnishape.gif
    OmniShape: Zero-Shot Multi-Hypothesis Object Pose and Shape Estimation in the Real World
    Katherine Liu, Sergey Zakharov, Dian Chen, and 4 more authors
    In ICRA, 2025
    Website

2024

  1. equi.png
    SE3 Equivariant Ray Embeddings for Implicit Multi-View Depth Estimation
    Yinshuang Xu, Dian Chen, Katherine Liu, and 4 more authors
    In NeurIPS, 2024
    PDF
  2. vista.png
    View-Invariant Policy Learning via Zero-Shot Novel View Synthesis
    Stephen Tian, Blake Wulfe, Kyle Sargent, and 4 more authors
    In CoRL, 2024
    PDF Code Website
  3. octmae.jpg
    Zero-Shot Multi-Object Shape Completion
    Shun Iwase, Katherine Liu, Vitor Guizilini, and 4 more authors
    In ECCV, 2024
    PDF Code Website
  4. nerfmae.jpg
    Self-Supervised 3D Representation Learning for Neural Radiance Fields
    Muhammad Zubair Irshad, Sergey Zakharov, Vitor Guizilini, and 3 more authors
    In ECCV, 2024
    PDF Code Website
  5. diffusionnocs.jpg
    DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimation
    Takuya Ikeda, Sergey Zakharov, Tianyi Ko, and 5 more authors
    In IROS, 2024
    PDF Code Website
  6. refine.gif
    ReFiNe: Recursive Field Networks for Cross-Modal Multi-Scene Representation
    Sergey Zakharov, Katherine Liu, Adrien Gaidon, and 1 more author
    In SIGGRAPH, 2024
    PDF Code Website
  7. fsd.png
    FSD: Fast Self-Supervised Single RGB-D to Categorical 3D Objects
    Mayank Lunayach, Sergey Zakharov, Dian Chen, and 3 more authors
    In ICRA, 2024
    PDF Website

2023

  1. 0123.png
    Zero-1-to-3: Zero-shot One Image to 3D Object
    Ruoshi Liu, Rundi Wu, Basile Van Hoorick, and 3 more authors
    In ICCV, 2023
    PDF Code Website
  2. delira.png
    DeLiRa: Self-Supervised Depth, Light, and Radiance Fields
    Vitor Guizilini, Igor Vasiljevic, Jiading Fang, and 4 more authors
    In ICCV, 2023
    PDF Code Website
  3. neo.gif
    NeO 360: Neural Fields for Sparse View Synthesis of Outdoor Scenes
    Muhammad Zubair Irshad, Sergey Zakharov, Katherine Liu, and 5 more authors
    In ICCV, 2023
    PDF Code Website
  4. carto.png
    CARTO: Category and Joint Agnostic Reconstruction of ARTiculated Objects
    Nick Heppert, Muhammad Zubair Irshad, Sergey Zakharov, and 5 more authors
    In CVPR, 2023
    PDF Code Website
  5. actionosf.gif
    Multi-Object Manipulation via Object-Centric Neural Scattering Functions
    Stephen Tian, Yancheng Cai, Hong-Xing Yu, and 5 more authors
    In CVPR, 2023
    PDF Website
  6. neuralgp.gif
    Neural Groundplans: Persistent Neural Scene Representations from a Single Image
    Prafull Sharma, Ayush Tewari, Yilun Du, and 7 more authors
    In ICLR, 2023
    PDF Website

2022

  1. road.gif
    ROAD: Learning an Implicit Recursive Octree Auto-Decoder to Efficiently Encode 3D Shapes
    Sergey Zakharov, Rares Ambrus, Katherine Liu, and 1 more author
    In CoRL, 2022
    PDF Code Website
  2. pndr.gif
    Photo-realistic Neural Domain Randomization
    Sergey Zakharov, Rares Ambrus, Vitor Guizilini, and 2 more authors
    In ECCV, 2022
    PDF
  3. spot.png
    SpOT: Spatiotemporal Modeling for 3D Object Tracking
    Colton Stearns, Davis Rempe, Jie Li, and 5 more authors
    In ECCV, 2022
    PDF Code Website
  4. shapo.gif
    ShAPO: Implicit Representations for Multi Object Shape Appearance and Pose Optimization
    Muhammad Zubair Irshad, Sergey Zakharov, Rares Ambrus, and 3 more authors
    In ECCV, 2022
    PDF Code Website
  5. depthformer.gif
    Multi-Frame Self-Supervised Depth with Transformers
    Vitor Guizilini, Rares Ambrus, Dian Chen, and 2 more authors
    In CVPR, 2022
    PDF Code Website

2021

  1. dpodv2.png
    DPODv2: Dense Correspondence-Based 6 DoF Pose Estimation
    Ivan Shugurov, Sergey Zakharov, and Slobodan Ilic
    In TPAMI, 2021
    PDF
  2. sssr.png
    Single-Shot Scene Reconstruction
    Sergey Zakharov, Rares Ambrus, Dennis Park, and 7 more authors
    In CoRL, 2021
    PDF
  3. refinement_dr.png
    Multi-View Object Pose Refinement With Differentiable Renderer
    Ivan Shugurov, Ivan Pavlov, Sergey Zakharov, and 1 more author
    In RAL, 2021
    PDF

2020

  1. sdflabel.gif
    Autolabeling 3D Objects with Differentiable Rendering of SDF Shape Priors
    Sergey Zakharov, Wadim Kehl, Arjun Bhargava, and 1 more author
    In CVPR (Oral), 2020
    PDF Code
  2. tless6d.png
    6 dof pose estimation of textureless objects from multiple RGB frames
    Roman Kaskman, Ivan Shugurov, Sergey Zakharov, and 1 more author
    In ECCVW, 2020
    PDF

2019

  1. dpod.png
    DPOD: 6D Pose Object Detector and Refiner
    Sergey Zakharov, Ivan Shugurov, and Slobodan Ilic
    In ICCV, 2019
    PDF Code
  2. deceptionnet.png
    DeceptionNet: Network-Driven Domain Randomization
    Sergey Zakharov, Wadim Kehl, and Slobodan Ilic
    In ICCV, 2019
    PDF
  3. synda.png
    Seeing beyond appearance-mapping real images into geometrical domains for unsupervised cad-based recognition
    Benjamin Planche, Sergey Zakharov, Ziyan Wu, and 3 more authors
    In IROS, 2019
    PDF
  4. hb.png
    HomebrewedDB: RGB-D Dataset for 6D Pose Estimation of 3D Objects
    Roman Kaskman, Sergey Zakharov, Ivan Shugurov, and 1 more author
    In ICCVW, 2019
    PDF Code Website

2018

  1. unrealda.png
    Keep it unreal: Bridging the realism gap for 2.5 d recognition with geometry priors only
    Sergey Zakharov, Benjamin Planche, Ziyan Wu, and 3 more authors
    In 3DV, 2018
    PDF
  2. regression.png
    When regression meets manifold learning for object recognition and pose estimation
    Mai Bui, Sergey Zakharov, Shadi Albarqouni, and 2 more authors
    In ICRA, 2018
    PDF

2017

  1. tripletdm.gif
    3D Object Instance Recognition and Pose Estimation Using Triplet Loss with Dynamic Margin
    Sergey Zakharov, Wadim Kehl, Benjamin Planche, and 2 more authors
    In IROS, 2017
    PDF
  2. depthsynth.png
    Depthsynth: Real-time realistic synthetic data generation from cad models for 2.5 d recognition
    Benjamin Planche, Ziyan Wu, Kai Ma, and 8 more authors
    In 3DV, 2017
    PDF