Related papers: Precise Pick-and-Place using Score-Based Diffusion…

Large-scale text-to-image models have demonstrated amazing ability to synthesize diverse and high-fidelity images. However, these models are often violated by several limitations. Firstly, they require the user to provide precise and…

In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…

With robots increasingly collaborating with humans in everyday tasks, it is important to take steps toward robotic systems capable of understanding the environment. This work focuses on scene understanding to detect pick and place tasks…

We present a novel method for 3D scene editing using diffusion models, designed to ensure view consistency and realism across perspectives. Our approach leverages attention features extracted from a single reference image to define the…

Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in…

For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…

Score-based diffusion models provide a powerful way to model images using the gradient of the data distribution. Leveraging the learned score function as a prior, here we introduce a way to sample data from a conditional distribution given…

Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…

6D object pose estimation is widely applied in robotic tasks such as grasping and manipulation. Prior methods using RGB-only images are vulnerable to heavy occlusion and poor illumination, so it is important to complement them with depth…

3D pose estimation from a single 2D image is an important and challenging task in computer vision with applications in autonomous driving, robot manipulation and augmented reality. Since 3D pose is a continuous quantity, a natural…

We propose a novel method for joint estimation of shape and pose of rigid objects from their sequentially observed RGB-D images. In sharp contrast to past approaches that rely on complex non-linear optimization, we propose to formulate it…

We propose MonoSE(3)-Diffusion, a monocular SE(3) diffusion framework that formulates markerless, image-based robot pose estimation as a conditional denoising diffusion process. The framework consists of two processes: a…

Diffusion models achieve state-of-the-art performance in various generation tasks. However, their theoretical foundations fall far behind. This paper studies score approximation, estimation, and distribution recovery of diffusion models,…

Direct preference optimization (DPO) methods have shown strong potential in aligning text-to-image diffusion models with human preferences by training on paired comparisons. These methods improve training stability by avoiding the REINFORCE…

In this work we integrate ideas from surface-based modeling with neural synthesis: we propose a combination of surface-based pose estimation and deep generative models that allows us to perform accurate pose transfer, i.e. synthesize a new…

Image retouching aims to enhance the visual quality of photos. Considering the different aesthetic preferences of users, the target of retouching is subjective. However, current retouching methods mostly adopt deterministic models, which…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…

Focus is a cornerstone of photography, yet autofocus systems often fail to capture the intended subject, and users frequently wish to adjust focus after capture. We introduce a novel method for realistic post-capture refocusing using video…

Three-dimensional (3D) human pose estimation using a monocular camera has gained increasing attention due to its ease of implementation and the abundance of data available from daily life. However, owing to the inherent depth ambiguity in…

In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…