Related papers: PoseDiff: A Unified Diffusion Model Bridging Robot…

Redundant manipulators, with their higher Degrees of Freedom (DoFs), offer enhanced kinematic performance and versatility, making them suitable for applications like manufacturing, surgical robotics, and human-robot collaboration. However,…

Digitizing humans and synthesizing photorealistic avatars with explicit 3D pose and camera controls are central to VR, telepresence, and entertainment. Existing skinning-based workflows require laborious manual rigging or template-based…

Creating novel images by fusing visual cues from multiple sources is a fundamental yet underexplored problem in image-to-image generation, with broad applications in artistic creation, virtual reality and visual media. Existing methods…

Estimating the pose of objects from images is a crucial task of 3D scene understanding, and recent approaches have shown promising results on very large benchmarks. However, these methods experience a significant performance drop when…

Recent advancements in image motion deblurring, driven by CNNs and transformers, have made significant progress. Large-scale pre-trained diffusion models, which are rich in real-world modeling, have shown great promise for high-quality…

Articulated object pose estimation is a core task in embodied AI. Existing methods typically regress poses in a continuous space, but often struggle with 1) navigating a large, complex search space and 2) failing to incorporate intrinsic…

Recent advances in generative modeling -- particularly diffusion models and flow matching -- have achieved remarkable success in synthesizing discrete data such as images and videos. However, adapting these models to physical applications…

While imitation learning provides a simple and effective framework for policy learning, acquiring consistent actions during robot execution remains a challenging task. Existing approaches primarily focus on either modifying the action…

Estimating the 6D object pose from a single RGB image often involves noise and indeterminacy due to challenges such as occlusions and cluttered backgrounds. Meanwhile, diffusion models have shown appealing performance in generating…

Accurate and high-fidelity driving scene reconstruction demands the effective utilization of comprehensive scene information as conditional inputs. Existing methods predominantly rely on 3D bounding boxes and BEV road maps for foreground…

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…

Diffusion models are a new class of generative models, and have dramatically promoted image generation with unprecedented quality and diversity. Existing diffusion models mainly try to reconstruct input image from a corrupted one with a…

Portrait animation aims to generate photo-realistic videos from a single source image by reenacting the expression and pose from a driving video. While early methods relied on 3D morphable models or feature warping techniques, they often…

We introduce a diffusion-based cross-domain image translator in the absence of paired training data. Unlike GAN-based methods, our approach integrates diffusion models to learn the image translation process, allowing for more coverable…

Large-scale diffusion-based generative models have led to breakthroughs in text-conditioned high-resolution image synthesis. Starting from random noise, such text-to-image diffusion models gradually synthesize images in an iterative fashion…

In computer vision, Image Difference Captioning (IDC) is crucial for accurately describing variations between closely related images. Traditional IDC methods often rely on specialist models, which restrict their applicability across varied…

Despite promising progress in face swapping task, realistic swapped images remain elusive, often marred by artifacts, particularly in scenarios involving high pose variation, color differences, and occlusion. To address these issues, we…

Depth sensing is an important problem for 3D vision-based robotics. Yet, a real-world active stereo or ToF depth camera often produces noisy and incomplete depth which bottlenecks robot performances. In this work, we propose D3RoMa, a…

We present iFusion, a novel 3D object reconstruction framework that requires only two views with unknown camera poses. While single-view reconstruction yields visually appealing results, it can deviate significantly from the actual object,…

Deploying large, complex policies in the real world requires the ability to steer them to fit the needs of a situation. Most common steering approaches, like goal-conditioning, require training the robot policy with a distribution of…