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Defocus Blur Detection(DBD) aims to separate in-focus and out-of-focus regions from a single image pixel-wisely. This task has been paid much attention since bokeh effects are widely used in digital cameras and smartphone photography.…
Camera and LiDAR sensor modalities provide complementary appearance and geometric information useful for detecting 3D objects for autonomous vehicle applications. However, current end-to-end fusion methods are challenging to train and…
Universal force fields generalizable across the periodic table represent a new trend in computational materials science. However, the applications of universal force fields in material simulations are limited by their slow inference speed…
Denosing diffusion model, as a generative model, has received a lot of attention in the field of image generation recently, thanks to its powerful generation capability. However, diffusion models have not yet received sufficient research in…
Recent approaches have shown promises distilling diffusion models into efficient one-step generators. Among them, Distribution Matching Distillation (DMD) produces one-step generators that match their teacher in distribution, without…
Applying Gaussian Splatting to perception tasks for 3D scene understanding is becoming increasingly popular. Most existing works primarily focus on rendering 2D feature maps from novel viewpoints, which leads to an imprecise 3D language…
Achieving diverse and stable dexterous grasping for general and deformable objects remains a fundamental challenge in robotics, due to high-dimensional action spaces and uncertainty in perception. In this paper, we present D3Grasp, a…
Denoising Diffusion models have exhibited remarkable capabilities in image generation. However, generating high-quality samples requires a large number of iterations. Knowledge distillation for diffusion models is an effective method to…
We propose a Few-shot Dynamic Neural Radiance Field (FDNeRF), the first NeRF-based method capable of reconstruction and expression editing of 3D faces based on a small number of dynamic images. Unlike existing dynamic NeRFs that require…
The conventional few-shot classification aims at learning a model on a large labeled base dataset and rapidly adapting to a target dataset that is from the same distribution as the base dataset. However, in practice, the base and the target…
Conditional diffusion models have demonstrated impressive performance in image manipulation tasks. The general pipeline involves adding noise to the image and then denoising it. However, this method faces a trade-off problem: adding too…
Talking head synthesis is an emerging technology with wide applications in film dubbing, virtual avatars and online education. Recent NeRF-based methods generate more natural talking videos, as they better capture the 3D structural…
Learning from limited data is challenging because data scarcity leads to a poor generalization of the trained model. A classical global pooled representation will probably lose useful local information. Many few-shot learning methods have…
Achieving dexterous robotic grasping with multi-fingered hands remains a significant challenge. While existing methods rely on complete 3D scans to predict grasp poses, these approaches face limitations due to the difficulty of acquiring…
The Coarse-to-Fine Few-Shot (C2FS) task is designed to train models using only coarse labels, then leverages a limited number of subclass samples to achieve fine-grained recognition capabilities. This task presents two main challenges:…
In this paper, we present the Directly Denoising Diffusion Model (DDDM): a simple and generic approach for generating realistic images with few-step sampling, while multistep sampling is still preserved for better performance. DDDMs require…
Diffusion generative modeling has become a promising approach for learning robotic manipulation tasks from stochastic human demonstrations. In this paper, we present Diffusion-EDFs, a novel SE(3)-equivariant diffusion-based approach for…
Recent advances in multi-fingered robotic grasping have enabled fast 6-Degrees-Of-Freedom (DOF) single object grasping. Multi-finger grasping in cluttered scenes, on the other hand, remains mostly unexplored due to the added difficulty of…
Deep Implicit Functions (DIFs) have gained popularity in 3D computer vision due to their compactness and continuous representation capabilities. However, addressing dense correspondences and semantic relationships across DIF-encoded shapes…
Data scarcity remains a fundamental bottleneck for embodied intelligence. Existing approaches use large language models (LLMs) to automate gripper-based simulation generation, but they transfer poorly to dexterous manipulation, which…