Related papers: Planning with Sketch-Guided Verification for Physi…
Autonomous high-speed navigation through large, complex environments requires real-time generation of agile trajectories that are dynamically feasible, collision-free, and satisfy constraints. Most modern trajectory planning techniques rely…
Despite significant progress in human action recognition, generalizing to diverse viewpoints remains a challenge. Most existing datasets are captured from ground-level perspectives, and models trained on them often struggle to transfer to…
Sketches make an intuitive and powerful visual expression as they are fast executed freehand drawings. We present a method for synthesizing realistic photos from scene sketches. Without the need for sketch and photo pairs, our framework…
The text-to-video (T2V) generation models, offering convenient visual creation, have recently garnered increasing attention. Despite their substantial potential, the generated videos may present artifacts, including structural…
Most existing motion planning algorithms assume that a map (of some quality) is fully determined prior to generating a motion plan. In many emerging applications of robotics, e.g., fast-moving agile aerial robots with constrained embedded…
Artificial Intelligence Generated Content (AIGC) has shown remarkable progress in generating realistic images. However, in this paper, we take a step "backward" and address AIGC for the most rudimentary visual modality of human sketches.…
Recent advances in foundation models highlight a clear trend toward unification and scaling, showing emergent capabilities across diverse domains. While image generation and editing have rapidly transitioned from task-specific to unified…
This paper presents a new multi-layered algorithm for motion planning under motion and sensing uncertainties for Linear Temporal Logic specifications. We propose a technique to guide a sampling-based search tree in the combined task and…
Text-to-image models can generate visually appealing images from text descriptions. Efforts have been devoted to improving model controls with prompt tuning and spatial conditioning. However, our formative study highlights the challenges…
The kinematic approximation of Dubin's Vehicle has been largely exploited in the formulation of various motion planning methods. In the majority of these methods, planning and control phases are decoupled, and the burden of rejecting…
Recently, image-to-3D approaches have achieved significant results with a natural image as input. However, it is not always possible to access these enriched color input samples in practical applications, where only sketches are available.…
In this paper, we address the challenge of generating temporally consistent videos with motion guidance. While many existing methods depend on additional control modules or inference-time fine-tuning, recent studies suggest that effective…
The growing capability of video generation poses escalating security risks, making reliable detection increasingly essential. In this paper, we introduce VideoVeritas, a framework that integrates fine-grained perception and fact-based…
We introduce VIRES, a video instance repainting method with sketch and text guidance, enabling video instance repainting, replacement, generation, and removal. Existing approaches struggle with temporal consistency and accurate alignment…
Complex and skillful motions in actual assembly process are challenging for the robot to generate with existing motion planning approaches, because some key poses during the human assembly can be too skillful for the robot to realize…
Modern video diffusion models excel at appearance synthesis but still struggle with physical consistency: objects drift, collisions lack realistic rebound, and material responses seldom match their underlying properties. We present PhyCo, a…
Multi-Modal Self-Supervised Learning from videos has been shown to improve model's performance on various downstream tasks. However, such Self-Supervised pre-training requires large batch sizes and a large amount of computation resources…
We introduce Purrception, a variational flow matching approach for vector-quantized image generation that provides explicit categorical supervision while maintaining continuous transport dynamics. Our method adapts Variational Flow Matching…
Generating video stories from text prompts is a complex task. In addition to having high visual quality, videos need to realistically adhere to a sequence of text prompts whilst being consistent throughout the frames. Creating a benchmark…
This paper presents an approach for the implementation and execution of an effective requirements generation process. We achieve this goal by providing a well-defined requirements engineering model that includes verification and validation…