Related papers: Not all Views are Created Equal: Analyzing Viewpoi…
Visual Navigation Models (VNMs) promise generalizable, robot navigation by learning from large-scale visual demonstrations. Despite growing real-world deployment, existing evaluations rely almost exclusively on success rate, whether the…
3D object detection plays a crucial role in autonomous systems, yet existing methods are limited by closed-set assumptions and struggle to recognize novel objects and their attributes in real-world scenarios. We propose OVODA, a novel…
A key feature of out-of-distribution (OOD) detection is to exploit a trained neural network by extracting statistical patterns and relationships through the multi-layer classifier to detect shifts in the expected input data distribution.…
Perception in the real world requires robustness to diverse viewing conditions. Existing approaches often rely on specialized architectures or training with predefined data augmentations, limiting adaptability. Taking inspiration from…
Autonomous vehicles (AV) require that neural networks used for perception be robust to different viewpoints if they are to be deployed across many types of vehicles without the repeated cost of data collection and labeling for each. AV…
Point defects are ubiquitous in solid-state compounds, dictating many functional properties such as conductivity, catalytic activity and carrier recombination. Over the past decade, the prevalence of metastable defect geometries and their…
Visual object recognition systems need to generalize from a set of 2D training views to novel views. The question of how the human visual system can generalize to novel views has been studied and modeled in psychology, computer vision, and…
Videos are continuous 2D projections of 3D worlds. After training on large video data, will global 3D understanding naturally emerge? We study this by quantifying the 3D understanding of existing Video Foundation Models (VidFMs) pretrained…
Semi-supervised video anomaly detection (VAD) methods formulate the task of anomaly detection as detection of deviations from the learned normal patterns. Previous works in the field (reconstruction or prediction-based methods) suffer from…
Video Anomaly Detection (VAD) has traditionally been framed as binary classification or outlier detection, providing neither interpretable reasoning nor precise spatial localization of anomalous events. While Vision-Language Models (VLMs)…
Determining whether AI systems process information similarly to humans is central to cognitive science and trustworthy AI. While modern AI models can match human accuracy on standard tasks, such parity does not guarantee that their…
We characterize the problem of pose estimation for rigid objects in terms of determining viewpoint to explain coarse pose and keypoint prediction to capture the finer details. We address both these tasks in two different settings - the…
Compared to 2D images, 3D point clouds are much more sensitive to rotations. We expect the point features describing certain patterns to keep invariant to the rotation transformation. There are many recent SOTA works dedicated to…
When answering questions about an image, it not only needs knowing what -- understanding the fine-grained contents (e.g., objects, relationships) in the image, but also telling why -- reasoning over grounding visual cues to derive the…
Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…
The ability to understand the ways to interact with objects from visual cues, a.k.a. visual affordance, is essential to vision-guided robotic research. This involves categorizing, segmenting and reasoning of visual affordance. Relevant…
Monocular 3D shape recovery is fundamental to geometric understanding, yet achieving robust generalization across arbitrary viewpoints and unseen object categories remains a significant challenge. In this paper, we present a generalizable…
Visual odometry and Simultaneous Localization And Mapping (SLAM) has been studied as one of the most important tasks in the areas of computer vision and robotics, to contribute to autonomous navigation and augmented reality systems. In case…
Self-supervised pre-training for 3D vision has drawn increasing research interest in recent years. In order to learn informative representations, a lot of previous works exploit invariances of 3D features, e.g., perspective-invariance…
Perceptual constancy is the ability to maintain stable perceptions of objects despite changes in sensory input, such as variations in distance, angle, or lighting. This ability is crucial for visual understanding in a dynamic world. Here,…