Related papers: SABER-6D: Shape Representation Based Implicit Obje…
Every time a person encounters an object with a given degree of familiarity, he/she immediately knows how to grasp it. Adaptation of the movement of the hand according to the object geometry happens effortlessly because of the accumulated…
Session-based Recommendation (SBR) refers to the task of predicting the next item based on short-term user behaviors within an anonymous session. However, session embedding learned by a non-linear encoder is usually not in the same…
Abstracting complex 3D shapes with parsimonious part-based representations has been a long standing goal in computer vision. This paper presents a learning-based solution to this problem which goes beyond the traditional 3D cuboid…
In the peg insertion task, human pays attention to the seam between the peg and the hole and tries to fill it continuously with visual feedback. By imitating the human behavior, we design architectures with position and orientation…
The complexity of a learning task is increased by transformations in the input space that preserve class identity. Visual object recognition for example is affected by changes in viewpoint, scale, illumination or planar transformations.…
We propose and demonstrate a generative deep learning approach for the shape recognition of an arbitrary object from its acoustic scattering properties. The strategy exploits deep neural networks to learn the mapping between the latent…
We advocate the use of implicit fields for learning generative models of shapes and introduce an implicit field decoder, called IM-NET, for shape generation, aimed at improving the visual quality of the generated shapes. An implicit field…
We propose an approach to generate images of people given a desired appearance and pose. Disentangled representations of pose and appearance are necessary to handle the compound variability in the resulting generated images. Hence, we…
Parametric 3D models have formed a fundamental role in modeling deformable objects, such as human bodies, faces, and hands; however, the construction of such parametric models requires significant manual intervention and domain expertise.…
Inspired by recent advances in multimodal learning and machine translation, we introduce an encoder-decoder pipeline that learns (a): a multimodal joint embedding space with images and text and (b): a novel language model for decoding…
Shape priors learned from data are commonly used to reconstruct 3D objects from partial or noisy data. Yet no such shape priors are available for indoor scenes, since typical 3D autoencoders cannot handle their scale, complexity, or…
We introduce anchored radial observations (ARO), a novel shape encoding for learning implicit field representation of 3D shapes that is category-agnostic and generalizable amid significant shape variations. The main idea behind our work is…
Category-level object pose estimation involves estimating the 6D pose and the 3D metric size of objects from predetermined categories. While recent approaches take categorical shape prior information as reference to improve pose estimation…
Modern data-driven machine learning system designs exploit inductive biases in architectural structure, invariance and equivariance requirements, task-specific loss functions, and computational optimization tools. Previous works have…
In object-based Simultaneous Localization and Mapping (SLAM), 6D object poses offer a compact representation of landmark geometry useful for downstream planning and manipulation tasks. However, measurement ambiguity then arises as objects…
Human perception of 3D shapes goes beyond reconstructing them as a set of points or a composition of geometric primitives: we also effortlessly understand higher-level shape structure such as the repetition and reflective symmetry of object…
We present DeSOPE, a large-scale dataset for 6DoF deformed objects. Most 6D object pose methods assume rigid or articulated objects, an assumption that fails in practice as objects deviate from their canonical shapes due to wear, impact, or…
In this work, we present an approach to deep visuomotor control using structured deep dynamics models. Our deep dynamics model, a variant of SE3-Nets, learns a low-dimensional pose embedding for visuomotor control via an encoder-decoder…
We introduce SkelFormer, a novel markerless motion capture pipeline for multi-view human pose and shape estimation. Our method first uses off-the-shelf 2D keypoint estimators, pre-trained on large-scale in-the-wild data, to obtain 3D joint…
We address the estimation of the 6D pose of an unknown target spacecraft relative to a monocular camera, a key step towards the autonomous rendezvous and proximity operations required by future Active Debris Removal missions. We present a…