相关论文: The Surprising Effectiveness of Linear Models for …

Can we see it all? Do we know it All? These are questions thrown to human beings in our contemporary society to evaluate our tendency to solve problems. Recent studies have explored several models in object detection; however, most have…

In this paper, we argue that iterative computation with diffusion models offers a powerful paradigm for not only generation but also visual perception tasks. We unify tasks such as depth estimation, optical flow, and amodal segmentation…

In this work, we introduce a novel data-driven model-reference control design approach for unknown linear systems with fully measurable state. The proposed control action is composed by a static feedback term and a reference tracking block,…

In this paper, we revisit the classical representation of 3D point clouds as linear shape models. Our key insight is to leverage deep learning to represent a collection of shapes as affine transformations of low-dimensional linear shape…

For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…

Vision-Language Models (VLMs) exhibit strong visual reasoning capabilities, yet they still struggle with 3D understanding. In particular, VLMs often fail to infer a text-consistent goal 6D pose of a target object in a 3D scene. However, we…

The accurate visual tracking of a moving object is a human fundamental skill that allows to reduce the relative slip and instability of the object's image on the retina, thus granting a stable, high-quality vision. In order to optimize…

In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…

Investigating relationships between variables in multi-dimensional data sets is a common task for data analysts and engineers. More specifically, it is often valuable to understand which ranges of which input variables lead to particular…

Linearly transforming stimulus representations of deep neural networks yields high-performing models of behavioral and neural responses to complex stimuli. But does the test accuracy of such predictions identify genuine representational…

Motion forecasting is crucial in enabling autonomous vehicles to anticipate the future trajectories of surrounding agents. To do so, it requires solving mapping, detection, tracking, and then forecasting problems, in a multi-step pipeline.…

We study how to synthesize novel views of human body from a single image. Though recent deep learning based methods work well for rigid objects, they often fail on objects with large articulation, like human bodies. The core step of…

Visual inspection is a crucial yet time-consuming task across various industries. Numerous established methods employ machine learning in inspection tasks, necessitating specific training data that includes predefined inspection poses and…

Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…

This paper presents a novel manipulation strategy that uses keypoint correspondences extracted from visuo-tactile sensor images to facilitate precise object manipulation. Our approach uses the visuo-tactile feedback to guide the robot's…

The human visual system processes images with varied degrees of resolution, with the fovea, a small portion of the retina, capturing the highest acuity region, which gradually declines toward the field of view's periphery. However, the…

Learning real-world robotic manipulation is challenging, particularly when limited demonstrations are available. Existing methods for few-shot manipulation often rely on simulation-augmented data or pre-built modules like grasping and pose…

We present a method that can recognize new objects and estimate their 3D pose in RGB images even under partial occlusions. Our method requires neither a training phase on these objects nor real images depicting them, only their CAD models.…

Vision-Language Models (VLMs) excel at many multimodal tasks, yet they frequently struggle with tasks requiring precise understanding and handling of fine-grained visual elements. This is mainly due to information loss during image encoding…

Estimating accurate camera poses, 3D scene geometry, and object motion from in-the-wild videos is a long-standing challenge for classical structure from motion pipelines due to the presence of dynamic objects. Recent learning-based methods…