Related papers: Controllable 3D Placement of Objects with Scene-Aw…

Text-guided image editing has recently experienced rapid development. However, simultaneously performing multiple editing actions on a single image, such as background replacement and specific subject attribute changes, while maintaining…

Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…

Text-conditioned image editing has recently attracted considerable interest. However, most methods are currently either limited to specific editing types (e.g., object overlay, style transfer), or apply to synthetically generated images, or…

Current large-scale generative models have impressive efficiency in generating high-quality images based on text prompts. However, they lack the ability to precisely control the size and position of objects in the generated image. In this…

3D photography renders a static image into a video with appealing 3D visual effects. Existing approaches typically first conduct monocular depth estimation, then render the input frame to subsequent frames with various viewpoints, and…

Conditional image generation has paved the way for several breakthroughs in image editing, generating stock photos and 3-D object generation. This continues to be a significant area of interest with the rise of new state-of-the-art methods…

The task of realistically inserting a human from a reference image into a background scene is highly challenging, requiring the model to (1) determine the correct location and poses of the person and (2) perform high-quality personalization…

Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…

We study the problem of inferring scene affordances by presenting a method for realistically inserting people into scenes. Given a scene image with a marked region and an image of a person, we insert the person into the scene while…

Object manipulation in images aims to not only edit the object's presentation but also gift objects with motion. Previous methods encountered challenges in concurrently handling static editing and dynamic generation, while also struggling…

Despite the existence of numerous colorization methods, several limitations still exist, such as lack of user interaction, inflexibility in local colorization, unnatural color rendering, insufficient color variation, and color overflow. To…

Diffusion models have recently achieved significant success in various image manipulation tasks, including image super-resolution and perceptual quality enhancement. Pretrained text-to-image models, such as Stable Diffusion, have exhibited…

Efficient learning from demonstration for long-horizon tasks remains an open challenge in robotics. While significant effort has been directed toward learning trajectories, a recent resurgence of object-centric approaches has demonstrated…

3D object reconfiguration encompasses common robot manipulation tasks in which a set of objects must be moved through a series of physically feasible state changes into a desired final configuration. Object reconfiguration is challenging to…

Structure-guided image completion aims to inpaint a local region of an image according to an input guidance map from users. While such a task enables many practical applications for interactive editing, existing methods often struggle to…

Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…

We describe a method for performing active localization of objects in instances of visual situations. A visual situation is an abstract concept---e.g., "a boxing match", "a birthday party", "walking the dog", "waiting for a bus"---whose…

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…

Classical methods in robot motion planning, such as sampling-based and optimization-based methods, often struggle with scalability towards higher-dimensional state spaces and complex environments. Diffusion models, known for their…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…