Related papers: GraspLDM: Generative 6-DoF Grasp Synthesis using L…

Grasping objects with limited or no prior knowledge about them is a highly relevant skill in assistive robotics. Still, in this general setting, it has remained an open problem, especially when it comes to only partial observability and…

Automatic layout generation that can synthesize high-quality layouts is an important tool for graphic design in many applications. Though existing methods based on generative models such as Generative Adversarial Networks (GANs) and…

This paper presents a real-time, object-independent grasp synthesis method which can be used for closed-loop grasping. Our proposed Generative Grasping Convolutional Neural Network (GG-CNN) predicts the quality and pose of grasps at every…

In the modern era of Deep Learning, network parameters play a vital role in models efficiency but it has its own limitations like extensive computations and memory requirements, which may not be suitable for real time intelligent robot…

Grasping unknown objects in unstructured environments is a critical challenge for service robots, which must operate in dynamic, real-world settings such as homes, hospitals, and warehouses. Success in these environments requires both…

This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object…

Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…

By decomposing the image formation process into a sequential application of denoising autoencoders, diffusion models (DMs) achieve state-of-the-art synthesis results on image data and beyond. Additionally, their formulation allows for a…

Solving partial differential equations (PDEs) on fine spatio-temporal scales for high-fidelity solutions is critical for numerous scientific breakthroughs. Yet, this process can be prohibitively expensive, owing to the inherent complexities…

Generative models have become a powerful tool for synthesizing training data in computer vision tasks. Current approaches solely focus on aligning generated images with the target dataset distribution. As a result, they capture only the…

Despite the success of generating high-quality images given any text prompts by diffusion-based generative models, prior works directly generate the entire images, but cannot provide object-wise manipulation capability. To support wider…

Synthesizing consistent and photorealistic 3D scenes is an open problem in computer vision. Video diffusion models generate impressive videos but cannot directly synthesize 3D representations, i.e., lack 3D consistency in the generated…

Latent space is one of the key concepts in generative AI, offering powerful means for creative exploration through vector manipulation. However, diffusion models like Stable Diffusion lack the intuitive latent vector control found in GANs,…

Spatio-temporal modeling is foundational for smart city applications, yet it is often hindered by data scarcity in many cities and regions. To bridge this gap, we propose a novel generative pre-training framework, GPD, for spatio-temporal…

This paper presents a novel generative model to synthesize fluid simulations from a set of reduced parameters. A convolutional neural network is trained on a collection of discrete, parameterizable fluid simulation velocity fields. Due to…

This paper presents a novel method for building scalable 3D generative models utilizing pre-trained video diffusion models. The primary obstacle in developing foundation 3D generative models is the limited availability of 3D data. Unlike…

Grasp learning in noisy environments, such as occlusions, sensor noise, and out-of-distribution (OOD) objects, poses significant challenges. Recent learning-based approaches focus primarily on capturing aleatoric uncertainty from inherent…

Generating images from graph-structured inputs, such as scene graphs, is uniquely challenging due to the difficulty of aligning nodes and connections in graphs with objects and their relations in images. Most existing methods address this…

We review the work on data-driven grasp synthesis and the methodologies for sampling and ranking candidate grasps. We divide the approaches into three groups based on whether they synthesize grasps for known, familiar or unknown objects.…

Interactive motion synthesis is essential in creating immersive experiences in entertainment applications, such as video games and virtual reality. However, generating animations that are both high-quality and contextually responsive…