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We introduce GEM3D -- a new deep, topology-aware generative model of 3D shapes. The key ingredient of our method is a neural skeleton-based representation encoding information on both shape topology and geometry. Through a denoising…
With an unprecedented increase in the number of agents and systems that aim to navigate the real world using visual cues and the rising impetus for 3D Vision Models, the importance of depth estimation is hard to understate. While supervised…
Unsupervised representation learning techniques, such as learning word embeddings, have had a significant impact on the field of natural language processing. Similar representation learning techniques have not yet become commonplace in the…
The use of appearance codes in recent work on generative modeling has enabled novel view renders with variable appearance and illumination, such as day-time and night-time renders of a scene. A major limitation of this technique is the need…
Novel view synthesis has seen significant advancements with 3D Gaussian Splatting (3DGS), enabling real-time photorealistic rendering. However, the inherent fuzziness of Gaussian Splatting presents challenges for 3D scene understanding,…
This paper presents a new regularization method to train a fully convolutional network for semantic tissue segmentation in histopathological images. This method relies on the benefit of unsupervised learning, in the form of image…
Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…
We propose a method for constructing generative models of 3D objects from a single 3D mesh and improving them through unsupervised low-shot learning from 2D images. Our method produces a 3D morphable model that represents shape and albedo…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…
We present a novel meta-learning approach for 6D pose estimation on unknown objects. In contrast to ``instance-level" and ``category-level" pose estimation methods, our algorithm learns object representation in a category-agnostic way,…
The rapid advancement of Multimodal Large Language Models (MLLMs) has extended CLIP-based frameworks to produce powerful, universal embeddings for retrieval tasks. However, existing methods primarily focus on natural images, offering…
Open-vocabulary 3D semantic segmentation aims to segment arbitrary categories beyond the training set. Existing methods predominantly rely on distilling knowledge from 2D open-vocabulary models. However, aligning 3D features to the 2D…
For effective human-robot teaming, it is important for the robots to be able to share their visual perception with the human operators. In a harsh remote collaboration setting, data compression techniques such as autoencoder can be utilized…
Over the past few years, single-view 3D face reconstruction methods can produce beautiful 3D models. Nevertheless,the input of these works is unobstructed faces.We describe a system designed to reconstruct convincing face texture in the…
As a classic statistical model of 3D facial shape and albedo, 3D Morphable Model (3DMM) is widely used in facial analysis, e.g., model fitting, image synthesis. Conventional 3DMM is learned from a set of 3D face scans with associated…
Current volumetric biomedical foundation models struggle to generalize as public 3D datasets are small and do not cover the broad diversity of medical procedures, conditions, anatomical regions, and imaging protocols. We address this by…
Autoregressive image modeling relies on visual tokenizers to compress images into compact latent representations. We design an end-to-end training pipeline that jointly optimizes reconstruction and generation, enabling direct supervision…
Recent multimodal large language models have achieved strong performance in unified text and image understanding and generation, yet extending such native capability to 3D remains challenging due to limited data. Compared to abundant 2D…
We present a new pre-training strategy called M$^{3}$3D ($\underline{M}$ulti-$\underline{M}$odal $\underline{M}$asked $\underline{3D}$) built based on Multi-modal masked autoencoders that can leverage 3D priors and learned cross-modal…
Feature matching plays a fundamental role in many computer vision tasks, yet existing methods heavily rely on scarce and clean multi-view image collections, which constrains their generalization to diverse and challenging scenarios.…