Related papers: Joint Learning of Pose Regression and Denoising Di…

We study the theoretical behavior of denoising score matching--the learning task associated to diffusion models--when the data distribution is supported on a low-dimensional manifold and the score is parameterized using a random feature…

In this paper, we present a novel, end-to-end 6D object pose estimation method that operates on RGB inputs. Our approach is composed of 2 main components: the first component classifies the objects in the input image and proposes an initial…

We present a novel meta-learning approach for 6D pose estimation on unknown objects. In contrast to ``instance-level" and ``category-level" pose estimation methods, our algorithm learns object representation in a category-agnostic way,…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

In this paper we tackle the problem of estimating the 3D pose of object instances, using convolutional neural networks. State of the art methods usually solve the challenging problem of regression in angle space indirectly, focusing on…

We investigate the approximation efficiency of score functions by deep neural networks in diffusion-based generative modeling. While existing approximation theories utilize the smoothness of score functions, they suffer from the curse of…

In this paper we present a novel deep learning method for 3D object detection and 6D pose estimation from RGB images. Our method, named DPOD (Dense Pose Object Detector), estimates dense multi-class 2D-3D correspondence maps between an…

Establishment of point correspondence between camera and object coordinate systems is a promising way to solve 6D object poses. However, surrogate objectives of correspondence learning in 3D space are a step away from the true ones of…

Generative models have attracted significant interest due to their ability to handle uncertainty by learning the inherent data distributions. However, two prominent generative models, namely Generative Adversarial Networks (GANs) and…

Equipping a deep model the abaility of few-shot learning, i.e., learning quickly from only few examples, is a core challenge for artificial intelligence. Gradient-based meta-learning approaches effectively address the challenge by learning…

Diffusion models offer powerful generative capabilities for robot trajectory planning, yet their practical deployment on robots is hindered by a critical bottleneck: a reliance on imitation learning from expert demonstrations. This paradigm…

Diffusion models have gained attention for their ability to represent complex distributions and incorporate uncertainty, making them ideal for robust predictions in the presence of noisy or incomplete data. In this study, we develop and…

Monocular depth predictors are typically trained on large-scale training sets which are naturally biased w.r.t the distribution of camera poses. As a result, trained predictors fail to make reliable depth predictions for testing examples…

Training deep neural networks has become a common approach for addressing image restoration problems. An alternative for training a "task-specific" network for each observation model is to use pretrained deep denoisers for imposing only the…

Camera pose estimation is a key step in standard 3D reconstruction pipelines that operate on a dense set of images of a single object or scene. However, methods for pose estimation often fail when only a few images are available because…

Although learning-based image restoration methods have made significant progress, they still struggle with limited generalization to real-world scenarios due to the substantial domain gap caused by training on synthetic data. Existing…

Recently, deep learning methods such as the convolutional neural networks have gained prominence in the area of image denoising. This is owing to their proven ability to surpass state-of-the-art classical image denoising algorithms such as…

One of the main drawback of diffusion models is the slow inference time for image generation. Among the most successful approaches to addressing this problem are distillation methods. However, these methods require considerable…

Although there have been significant advancements in image compression techniques, such as standard and learned codecs, these methods still suffer from severe quality degradation at extremely low bits per pixel. While recent diffusion-based…

Diffusion models have shown remarkable success across generative tasks, yet their high computational demands challenge deployment on resource-limited platforms. This paper investigates a critical question for compute-optimal diffusion model…