Related papers: ReorientDiff: Diffusion Model based Reorientation …
Object reconstruction is relevant for many autonomous robotic tasks that require interaction with the environment. A key challenge in such scenarios is planning view configurations to collect informative measurements for reconstructing an…
We introduce SPOT, an object-centric imitation learning framework. The key idea is to capture each task by an object-centric representation, specifically the SE(3) object pose trajectory relative to the target. This approach decouples…
Generating high-quality whole-body human object interaction motion sequences is becoming increasingly important in various fields such as animation, VR/AR, and robotics. The main challenge of this task lies in determining the level of…
Autonomous navigation and exploration in unmapped environments remains a significant challenge in robotics due to the difficulty robots face in making commonsense inference of unobserved geometries. Recent advancements have demonstrated…
It is a common problem in robotics to specify the position of each joint of the robot so that the endpoint reaches a certain target in space. This can be solved in two ways, forward kinematics method and inverse kinematics method. However,…
Current robotic pick-and-place policies typically require consistent gripper configurations across training and inference. This constraint imposes high retraining or fine-tuning costs, especially for imitation learning-based approaches,…
This paper presents PolyDiffuse, a novel structured reconstruction algorithm that transforms visual sensor data into polygonal shapes with Diffusion Models (DM), an emerging machinery amid exploding generative AI, while formulating…
A precise and user-friendly manipulation of image content while preserving image fidelity has always been crucial to the field of image editing. Thanks to the power of generative models, recent point-based image editing methods allow users…
In real-world scenarios, objects often require repositioning and reorientation before they can be grasped, a process known as pre-grasp manipulation. Learning universal dexterous functional pre-grasp manipulation requires precise control…
A significant research effort is focused on exploiting the amazing capacities of pretrained diffusion models for the editing of images.They either finetune the model, or invert the image in the latent space of the pretrained model. However,…
Unsupervised visual object tracking is a challenging task that requires following arbitrary targets in videos without training on ground-truth annotations. Despite considerable progress, existing state-of-the-art unsupervised trackers often…
We present DPoser-X, a diffusion-based prior model for 3D whole-body human poses. Building a versatile and robust full-body human pose prior remains challenging due to the inherent complexity of articulated human poses and the scarcity of…
Manipulation of articulated and deformable objects can be difficult due to their compliant and under-actuated nature. Unexpected disturbances can cause the object to deviate from a predicted state, making it necessary to use…
As one of the most successful generative models, diffusion models have demonstrated remarkable efficacy in synthesizing high-quality images. These models learn the underlying high-dimensional data distribution in an unsupervised manner.…
Automated 3D scene generation is pivotal for applications spanning virtual reality, digital content creation, and Embodied AI. While computer graphics prioritizes aesthetic layouts, vision and robotics demand scenes that mirror real-world…
The recent success of transformer-based image generative models in object-centric learning highlights the importance of powerful image generators for handling complex scenes. However, despite the high expressiveness of diffusion models in…
The depth-of-field (DoF) effect, which introduces aesthetically pleasing blur, enhances photographic quality but is fixed and difficult to modify once the image has been created. This becomes problematic when the applied blur is…
Good 3D object detection performance from LiDAR-Camera sensors demands seamless feature alignment and fusion strategies. We propose the 3DifFusionDet framework in this paper, which structures 3D object detection as a denoising diffusion…
Virtual fixtures assist human operators in teleoperation settings by constraining their actions. This extended abstract introduces a novel virtual fixture formulation \emph{on surfaces} for tactile robotics tasks. Unlike existing methods,…
Diffusion models have been verified to be effective in generating complex distributions from natural images to motion trajectories. Recent diffusion-based methods show impressive performance in 3D robotic manipulation tasks, whereas they…