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Place classification is a fundamental ability that a robot should possess to carry out effective human-robot interactions. It is a nontrivial classification problem which has attracted many research. In recent years, there is a high…

Clustering is one of the fundamental tasks in computer vision and pattern recognition. Recently, deep clustering methods (algorithms based on deep learning) have attracted wide attention with their impressive performance. Most of these…

Training deep neural networks at the edge on light computational devices, embedded systems and robotic platforms is nowadays very challenging. Continual learning techniques, where complex models are incrementally trained on small batches of…

Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…

The primary challenge in accelerating image super-resolution lies in reducing computation while maintaining performance and adaptability. Motivated by the observation that high-frequency regions (e.g., edges and textures) are most critical…

Visuomotor robot policies, increasingly pre-trained on large-scale datasets, promise significant advancements across robotics domains. However, aligning these policies with end-user preferences remains a challenge, particularly when the…

Visual Place Recognition (VPR) is vital for robot localization. To date, the most performant VPR approaches are environment- and task-specific: while they exhibit strong performance in structured environments (predominantly urban driving),…

Place recognition is a challenging task in computer vision, crucial for enabling autonomous vehicles and robots to navigate previously visited environments. While significant progress has been made in learnable multimodal methods that…

As integrated circuit (IC) dimensions shrink below the lithographic wavelength, optical lithography faces growing challenges from diffraction and process variability. Model-based optical proximity correction (OPC) and inverse lithography…

We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been…

Reward design remains a critical bottleneck in visual reinforcement learning (RL) for robotic manipulation. In simulated environments, rewards are conventionally designed based on the distance to a target position. However, such precise…

Deep learning models have achieved significant success in various image related tasks. However, they often encounter challenges related to computational complexity and overfitting. In this paper, we propose an efficient approach that…

As a pioneering work, PointContrast conducts unsupervised 3D representation learning via leveraging contrastive learning over raw RGB-D frames and proves its effectiveness on various downstream tasks. However, the trend of large-scale…

Photo collage aims to automatically arrange multiple photos on a given canvas with high aesthetic quality. Existing methods are based mainly on handcrafted feature optimization, which cannot adequately capture high-level human aesthetic…

Reinforcement learning (RL) has demonstrated remarkable success in text and image generation, yet its potential in 3D generation remains largely unexplored. Existing attempts typically rely on offline direct preference optimization (DPO)…

6D object pose estimation in cluttered scenes remains challenging due to severe occlusion and sensor noise. We propose MAPRPose, a two-stage framework that leverages mask-aware correspondences for pose proposal and amodal-driven…

In this paper, a novel switching pushing skill algorithm is proposed to improve the efficiency of planar non-prehensile manipulation, which draws inspiration from human pushing actions and comprises two sub-problems, i.e., discrete…

Although deep reinforcement learning (RL) has recently enjoyed many successes, its methods are still data inefficient, which makes solving numerous problems prohibitively expensive in terms of data. We aim to remedy this by taking advantage…

Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…

Visual place recognition (VPR) remains challenging due to significant viewpoint changes and appearance variations. Mainstream works tackle these challenges by developing various feature aggregation methods to transform deep features into…