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Robotic grasping is an essential and fundamental task and has been studied extensively over the past several decades. Traditional work analyzes physical models of the objects and computes force-closure grasps. Such methods require…

We present an algorithm to estimate depth in dynamic video scenes. We propose to learn and infer depth in videos from appearance, motion, occlusion boundaries, and geometric context of the scene. Using our method, depth can be estimated…

This paper presents a new self-supervised system for learning to detect novel and previously unseen categories of objects in images. The proposed system receives as input several unlabeled videos of scenes containing various objects. The…

Learning depth and ego-motion from unlabeled videos via self-supervision from epipolar projection can improve the robustness and accuracy of the 3D perception and localization of vision-based robots. However, the rigid projection computed…

Autonomous robotic systems require spatio-temporal understanding of dynamic environments to ensure reliable navigation and interaction. While Vision-Language Models (VLMs) provide open-world semantic priors, they lack grounding in 3D…

Perceiving accurate 3D object shape is important for robots to interact with the physical world. Current research along this direction has been primarily relying on visual observations. Vision, however useful, has inherent limitations due…

We present a method for unsupervised learning of equations of motion for objects in raw and optionally distorted unlabeled video. We first train an autoencoder that maps each video frame into a low-dimensional latent space where the laws of…

Although considerable advancements have been attained in self-supervised depth estimation from monocular videos, most existing methods often treat all objects in a video as static entities, which however violates the dynamic nature of…

Accurate reconstruction of both the geometric and topological details of a 3D object from a single 2D image embodies a fundamental challenge in computer vision. Existing explicit/implicit solutions to this problem struggle to recover…

Graph edges, along with their labels, can represent information of fundamental importance, such as links between web pages, friendship between users, the rating given by users to other users or items, and much more. We introduce LEAP, a…

3D object detection is an indispensable component for scene understanding. However, the annotation of large-scale 3D datasets requires significant human effort. To tackle this problem, many methods adopt weakly supervised 3D object…

In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…

Learning robust 3D shape segmentation functions with deep neural networks has emerged as a powerful paradigm, offering promising performance in producing a consistent part segmentation of each 3D shape. Generalizing across 3D shape…

To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…

We focus on an important yet challenging problem: using a 2D deep network to deal with 3D segmentation for medical image analysis. Existing approaches either applied multi-view planar (2D) networks or directly used volumetric (3D) networks…

Recovering full 3D shapes from partial observations is a challenging task that has been extensively addressed in the computer vision community. Many deep learning methods tackle this problem by training 3D shape generation networks to learn…

In this paper we introduce a novel Depth-Aware Video Saliency approach to predict human focus of attention when viewing RGBD videos on regular 2D screens. We train a generative convolutional neural network which predicts a saliency map for…

Understanding geometric concepts, such as distance and shape, is essential for understanding the real world and also for many vision tasks. To incorporate such information into a visual representation of a scene, we propose learning to…

3D object reconstructions of transparent and concave structured objects, with inferred material properties, remains an open research problem for robot navigation in unstructured environments. In this paper, we propose a multimodal single-…

Reconstructing 3D humans from images captured at multiple perspectives typically requires pre-calibration, like using checkerboards or MVS algorithms, which limits scalability and applicability in diverse real-world scenarios. In this work,…