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Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…
Audio-Visual Segmentation (AVS) aims to identify, at the pixel level, the object in a visual scene that produces a given sound. Current AVS methods rely on costly fine-grained annotations of mask-audio pairs, making them impractical for…
We present an approach to semi-supervised video object segmentation, in the context of the DAVIS 2017 challenge. Our approach combines category-based object detection, category-independent object appearance segmentation and temporal object…
Existing Referring Image Segmentation (RIS) methods typically require expensive pixel-level or box-level annotations for supervision. In this paper, we observe that the referring texts used in RIS already provide sufficient information to…
We introduce a method for simultaneously classifying, segmenting and tracking object instances in a video sequence. Our method, named MaskProp, adapts the popular Mask R-CNN to video by adding a mask propagation branch that propagates…
Moving Object Segmentation (MOS) aims to discover, segment, and track objects that move independently of the camera. Current MOS methods, however, exhibit two fundamental limitations: they rely on pre-computed 2D auxiliary modalities such…
Tracking and segmenting multiple similar objects with distinct or complex parts in long-term videos is particularly challenging due to the ambiguity in identifying target components and the confusion caused by occlusion, background clutter,…
Visual Grounding, also known as Referring Expression Comprehension and Phrase Grounding, aims to ground the specific region(s) within the image(s) based on the given expression text. This task simulates the common referential relationships…
Video temporal grounding (VTG) is a critical task in video understanding and a key capability for extending video large language models (Vid-LLMs) to broader applications. However, existing Vid-LLMs rely on uniform frame sampling to extract…
Referring Audio-Visual Segmentation (Ref-AVS) aims to segment specific objects in videos based on natural language expressions involving audio, vision, and text information. This task poses significant challenges in cross-modal reasoning…
We propose Consistency-guided Prompt learning (CoPrompt), a new fine-tuning method for vision-language models. Our approach improves the generalization of large foundation models when fine-tuned on downstream tasks in a few-shot setting.…
Video object segmentation is an essential task in robot manipulation to facilitate grasping and learning affordances. Incremental learning is important for robotics in unstructured environments, since the total number of objects and their…
Weakly-Supervised Semantic Segmentation (WSSS) aims to train segmentation models using image data with only image-level supervision. Since precise pixel-level annotations are not accessible, existing methods typically focus on producing…
Multi-modal Large Language Models (MLLMs) have demonstrated remarkable reasoning capability while lack explicit mechanisms for visual grounding and segmentation, creating a gap between cognitive reasoning and visual perception. To bridge…
3D Referring Expression Segmentation (3D-RES) aims to segment 3D objects by correlating referring expressions with point clouds. However, traditional approaches frequently encounter issues like over-segmentation or mis-segmentation, due to…
We propose a self-supervised spatio-temporal matching method, coined Motion-Aware Mask Propagation (MAMP), for video object segmentation. MAMP leverages the frame reconstruction task for training without the need for annotations. During…
In this paper, we propose an Audio-Language-Referenced SAM 2 (AL-Ref-SAM 2) pipeline to explore the training-free paradigm for audio and language-referenced video object segmentation, namely AVS and RVOS tasks. The intuitive solution…
Video reasoning requires models to locate and track question-relevant evidence across frames. While reinforcement learning (RL) with verifiable rewards improves accuracy, it still struggles to achieve reliable spatio-temporal grounding…
In this paper, we study the problem of temporal video grounding (TVG), which aims to predict the starting/ending time points of moments described by a text sentence within a long untrimmed video. Benefiting from fine-grained 3D visual…
Open-vocabulary semantic segmentation (OVSS) employs pixel-level vision-language alignment to associate category-related prompts with corresponding pixels. A key challenge is enhancing the multimodal dense prediction capability,…