Which Reconstruction Model Should a Robot Use? Routing Image-to-3D Models for Cost-Aware Robotic Manipulation

Description

Robotic manipulation tasks require 3D mesh reconstructions of varying quality: dexterous manipulation demands fine-grained surface detail, while collision-free planning tolerates coarser representations. Multiple reconstruction methods offer different cost-quality tradeoffs, from Image-to-3D models - whose output quality depends heavily on the input viewpoint - to view-invariant methods such as structured light scanning. Querying all models is computationally prohibitive, motivating per-input mo

Source