Related papers: DIPO: Dual-State Images Controlled Articulated Obj…
Articulated objects are ubiquitous in daily life. Our goal is to achieve a high-quality reconstruction, segmentation of independent moving parts, and analysis of articulation. Recent methods analyse two different articulation states and…
The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…
Collecting 3D object datasets involves a large amount of manual work and is time consuming. Getting complete models of objects either requires a 3D scanner that covers all the surfaces of an object or one needs to rotate it to completely…
Diffusion policies have demonstrated strong performance in generative modeling, making them promising for robotic manipulation guided by natural language instructions. However, generalizing language-conditioned diffusion policies to…
Unifying image understanding and generation has gained growing attention in recent research on multimodal models. Although design choices for image understanding have been extensively studied, the optimal model architecture and training…
Robots operating in human environments must be able to rearrange objects into semantically-meaningful configurations, even if these objects are previously unseen. In this work, we focus on the problem of building physically-valid structures…
Personalized diffusion models have shown remarkable success in Text-to-Image (T2I) generation by enabling the injection of user-defined concepts into diverse contexts. However, balancing concept fidelity with contextual alignment remains a…
Accurately manipulating articulated objects is a challenging yet important task for real robot applications. In this paper, we present a novel framework called Sim2Real$^2$ to enable the robot to manipulate an unseen articulated object to…
We present LangToMo, a vision-language-action framework structured as a dual-system architecture that uses pixel motion forecasts as intermediate representations. Our high-level System 2, an image diffusion model, generates text-conditioned…
Although existing image caption models can produce promising results using recurrent neural networks (RNNs), it is difficult to guarantee that an object we care about is contained in generated descriptions, for example in the case that the…
Direct Preference Optimization (DPO) has been proposed as an effective and efficient alternative to reinforcement learning from human feedback (RLHF). In this paper, we propose a novel and enhanced version of DPO based on curriculum…
Medical image reconstruction from measurement data is a vital but challenging inverse problem. Deep learning approaches have achieved promising results, but often requires paired measurement and high-quality images, which is typically…
3D hand-object interaction data is scarce due to the hardware constraints in scaling up the data collection process. In this paper, we propose HOIDiffusion for generating realistic and diverse 3D hand-object interaction data. Our model is a…
Direct Preference Optimization (DPO) has been proposed as an effective and efficient alternative to reinforcement learning from human feedback (RLHF). However, neither RLHF nor DPO take into account the fact that learning certain…
Recently, reinforcement learning (RL) has been employed for improving generative image super-resolution (ISR) performance. However, the current efforts are focused on multi-step generative ISR, while one-step generative ISR remains…
Perceiving the shape and material of an object from a single image is inherently ambiguous, especially when lighting is unknown and unconstrained. Despite this, humans can often disentangle shape and material, and when they are uncertain,…
Generating photos satisfying multiple constraints find broad utility in the content creation industry. A key hurdle to accomplishing this task is the need for paired data consisting of all modalities (i.e., constraints) and their…
Recent advances in diffusion models have improved Real-World Image Super-Resolution (Real-ISR), but existing methods lack human feedback integration, risking misalignment with human preference and may leading to artifacts, hallucinations…
The manipulation of articulated objects is of primary importance in Robotics, and can be considered as one of the most complex manipulation tasks. Traditionally, this problem has been tackled by developing ad-hoc approaches, which lack…
Modeling human behaviors in contextual environments has a wide range of applications in character animation, embodied AI, VR/AR, and robotics. In real-world scenarios, humans frequently interact with the environment and manipulate various…