相关论文: S3K: Self-Supervised Semantic Keypoints for Roboti…

Collecting high-quality data for training large-scale robotic models typically relies on real robot platforms, which is labor-intensive and costly, whether via teleoperation or scripted demonstrations. To scale data collection, many…

Surgical tool segmentation in endoscopic images is the first step towards pose estimation and (sub-)task automation in challenging minimally invasive surgical operations. While many approaches in the literature have shown great results…

Effective robotic manipulation relies on a precise understanding of 3D scene geometry, and one of the most straightforward ways to acquire such geometry is through multi-view observations. Motivated by this, we present GP3 -- a 3D…

We study the task of embodied visual active learning, where an agent is set to explore a 3d environment with the goal to acquire visual scene understanding by actively selecting views for which to request annotation. While accurate on some…

Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…

Clothes manipulation, such as folding or hanging, is a critical capability for home service robots. Despite recent advances, most existing methods remain limited to specific clothes types and tasks, due to the complex, high-dimensional…

Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and significant manual effort to label objects. This limits their…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

Mid-level vision capabilities - such as generic object localization and 3D geometric understanding - are not only fundamental to human vision but are also crucial for many real-world applications of computer vision. These abilities emerge…

Image-based volumetric humans using pixel-aligned features promise generalization to unseen poses and identities. Prior work leverages global spatial encodings and multi-view geometric consistency to reduce spatial ambiguity. However,…

Most contemporary robots have depth sensors, and research on semantic segmentation with RGBD images has shown that depth images boost the accuracy of segmentation. Since it is time-consuming to annotate images with semantic labels per…

Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…

This paper presents a semi-supervised learning framework to train a keypoint detector using multiview image streams given the limited labeled data (typically $<$4\%). We leverage the complementary relationship between multiview geometry and…

Enabling home-assistant robots to perceive and manipulate a diverse range of 3D objects based on human language instructions is a pivotal challenge. Prior research has predominantly focused on simplistic and task-oriented instructions,…

Over the past few years, deep learning techniques have achieved tremendous success in many visual understanding tasks such as object detection, image segmentation, and caption generation. Despite this thriving in computer vision and natural…

Human pose estimation is a fundamental and challenging task in computer vision. Larger-scale and more accurate keypoint annotations, while helpful for improving the accuracy of supervised pose estimation, are often expensive and difficult…

Understanding and representing the structure of 3D objects in an unsupervised manner remains a core challenge in computer vision and graphics. Most existing unsupervised keypoint methods are not designed for unconditional generative…

Self-supervised learning has transformed 2D computer vision by enabling models trained on large, unannotated datasets to provide versatile off-the-shelf features that perform similarly to models trained with labels. However, in 3D scene…

In this paper we present a novel visual servoing framework to control a robotic manipulator in the configuration space by using purely natural visual features. Our goal is to develop methods that can robustly detect and track natural…

Feature extraction and matching are the basic parts of many robotic vision tasks, such as 2D or 3D object detection, recognition, and registration. As is known, 2D feature extraction and matching have already achieved great success.…