Related papers: Diff9D: Diffusion-Based Domain-Generalized Categor…
Modern diffusion-based image generative models have made significant progress and become promising to enrich training data for the object detection task. However, the generation quality and the controllability for complex scenes containing…
We introduce OneDiffusion, a versatile, large-scale diffusion model that seamlessly supports bidirectional image synthesis and understanding across diverse tasks. It enables conditional generation from inputs such as text, depth, pose,…
Category-level 6D pose estimation, aiming to predict the location and orientation of unseen object instances, is fundamental to many scenarios such as robotic manipulation and augmented reality, yet still remains unsolved. Precisely…
Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, bypassing the traditional localization-mapping-planning…
In this paper, we tackle the problem of category-level 9D pose estimation in the wild, given a single RGB-D frame. Using supervised data of real-world 9D poses is tedious and erroneous, and also fails to generalize to unseen scenarios.…
Diffusion models have attracted significant attention due to the remarkable ability to create content and generate data for tasks like image classification. However, the usage of diffusion models to generate the high-quality object…
Data Augmentation (DA), i.e., synthesizing faithful and diverse samples to expand the original training set, is a prevalent and effective strategy to improve the performance of various data-scarce tasks. With the powerful image generation…
Addressing pose ambiguity in 6D object pose estimation from single RGB images presents a significant challenge, particularly due to object symmetries or occlusions. In response, we introduce a novel score-based diffusion method applied to…
Remote sensing image change description represents an innovative multimodal task within the realm of remote sensing processing.This task not only facilitates the detection of alterations in surface conditions, but also provides…
This paper introduces an approach, named DFormer, for universal image segmentation. The proposed DFormer views universal image segmentation task as a denoising process using a diffusion model. DFormer first adds various levels of Gaussian…
Estimating an object's 6D pose, size, and shape from visual input is a fundamental problem in computer vision, with critical applications in robotic grasping and manipulation. Existing methods either rely on object-specific priors such as…
This work targets to construct a robust human pose prior. However, it remains a persistent challenge due to biomechanical constraints and diverse human movements. Traditional priors like VAEs and NDFs often exhibit shortcomings in realism…
To fully understand the 3D context of a single image, a visual system must be able to segment both the visible and occluded regions of objects, while discerning their occlusion order. Ideally, the system should be able to handle any object…
Pose estimation-guided unseen object 6-DoF robotic manipulation is a key task in robotics. However, the scalability of current pose estimation methods to unseen objects remains a fundamental challenge, as they generally rely on CAD models…
Classifier-free guided diffusion models have recently been shown to be highly effective at high-resolution image generation, and they have been widely used in large-scale diffusion frameworks including DALLE-2, Stable Diffusion and Imagen.…
Human has an incredible ability to effortlessly perceive the viewpoint difference between two images containing the same object, even when the viewpoint change is astonishingly vast with no co-visible regions in the images. This remarkable…
6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…
Monocular 3D human pose estimation (HPE) often encounters challenges such as depth ambiguity and occlusion during the 2D-to-3D lifting process. Additionally, traditional methods may overlook multi-scale skeleton features when utilizing…
In this work, we tackle the challenging problem of category-level object pose and size estimation from a single depth image. Although previous fully-supervised works have demonstrated promising performance, collecting ground-truth pose…
Grasping is a fundamental skill in robotics with diverse applications across medical, industrial, and domestic domains. However, current approaches for predicting valid grasps are often tailored to specific grippers, limiting their…