Related papers: Leveraging Foundation Models To learn the shape of…

In this work, we propose ModelPred, a framework that helps to understand the impact of changes in training data on a trained model. This is critical for building trust in various stages of a machine learning pipeline: from cleaning…

We study the ability of foundation models to learn representations for classification that are transferable to new, unseen classes. Recent results in the literature show that representations learned by a single classifier over many classes…

Discriminative Correlation Filter (DCF) based methods have shown competitive performance on tracking benchmarks in recent years. Generally, DCF based trackers learn a rigid appearance model of the target. However, this reliance on a single…

In interactive object segmentation a user collaborates with a computer vision model to segment an object. Recent works employ convolutional neural networks for this task: Given an image and a set of corrections made by the user as input,…

This paper presents an approach for learning invariant features for object affordance understanding. One of the major problems for a robotic agent acquiring a deeper understanding of affordances is finding sensory-grounded semantics. Being…

Point clouds are the native output of many real-world 3D sensors. To borrow the success of 2D convolutional network architectures, a majority of popular 3D perception models voxelize the points, which can result in a loss of local geometric…

Lexical semantics and cognitive science point to affordances (i.e. the actions that objects support) as critical for understanding and representing nouns and verbs. However, study of these semantic features has not yet been integrated with…

Hadronization is a non-perturbative process, which theoretical description can not be deduced from first principles. Modeling hadron formation requires several assumptions and various phenomenological approaches. Utilizing state-of-the-art…

Implicit surface representations, such as signed-distance functions, combined with deep learning have led to impressive models which can represent detailed shapes of objects with arbitrary topology. Since a continuous function is learned,…

Inferring 3D structure of a generic object from a 2D image is a long-standing objective of computer vision. Conventional approaches either learn completely from CAD-generated synthetic data, which have difficulty in inference from real…

Large intra-class variation is the result of changes in multiple object characteristics. Images, however, only show the superposition of different variable factors such as appearance or shape. Therefore, learning to disentangle and…

Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…

Shape control of deformable objects is a challenging and important robotic problem. This paper proposes a model-free controller using novel 3D global deformation features based on modal analysis. Unlike most existing controllers using…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…

Transformer models have become the dominant backbone for sequence modeling, leveraging self-attention to produce contextualized token representations. These are typically aggregated into fixed-size vectors via pooling operations for…

In this work, we propose a disentangled latent optimization-based method for parameterizing grouped deforming 3D objects into shape and deformation factors in an unsupervised manner. Our approach involves the joint optimization of a…

Detecting objects becomes difficult when we need to deal with large shape deformation, occlusion and low resolution. We propose a novel approach to i) handle large deformations and partial occlusions in animals (as examples of highly…

Object shape is a key cue that contributes to the semantic understanding of objects. In this work we focus on the categorization of real-world object point clouds to particular shape types. Therein surface description and representation of…

This work explores how to use self-supervised learning on videos to learn a class-specific image embedding that encodes pose and shape information. At train time, two frames of the same video of an object class (e.g. human upper body) are…

Robotic manipulation of deformable linear objects (DLOs) has broad application prospects in many fields. However, a key issue is to obtain the exact deformation models (i.e., how robot motion affects DLO deformation), which are hard to…