相关论文: Unsupervised Learning of Visual 3D Keypoints for C…

Rendering articulated objects while controlling their poses is critical to applications such as virtual reality or animation for movies. Manipulating the pose of an object, however, requires the understanding of its underlying structure,…

We present a learning based approach for multi-view stereopsis (MVS). While current deep MVS methods achieve impressive results, they crucially rely on ground-truth 3D training data, and acquisition of such precise 3D geometry for…

We address the problem of discovering part segmentations of articulated objects without supervision. In contrast to keypoints, part segmentations provide information about part localizations on the level of individual pixels. Capturing both…

We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…

Can a robot manipulate intra-category unseen objects in arbitrary poses with the help of a mere demonstration of grasping pose on a single object instance? In this paper, we try to address this intriguing challenge by using USEEK, an…

We present KeyCLD, a framework to learn Lagrangian dynamics from images. Learned keypoints represent semantic landmarks in images and can directly represent state dynamics. We show that interpreting this state as Cartesian coordinates,…

Robotic grasping is an essential and fundamental task and has been studied extensively over the past several decades. Traditional work analyzes physical models of the objects and computes force-closure grasps. Such methods require…

Recent studies have shown remarkable advances in 3D human pose estimation from monocular images, with the help of large-scale in-door 3D datasets and sophisticated network architectures. However, the generalizability to different…

Unsupervised point cloud completion aims at estimating the corresponding complete point cloud of a partial point cloud in an unpaired manner. It is a crucial but challenging problem since there is no paired partial-complete supervision that…

In this paper we present a novel unsupervised representation learning approach for 3D shapes, which is an important research challenge as it avoids the manual effort required for collecting supervised data. Our method trains an RNN-based…

Category-level 3D pose estimation is a fundamentally important problem in computer vision and robotics, e.g. for embodied agents or to train 3D generative models. However, so far methods that estimate the category-level object pose require…

Compressed sensing techniques enable efficient acquisition and recovery of sparse, high-dimensional data signals via low-dimensional projections. In this work, we propose Uncertainty Autoencoders, a learning framework for unsupervised…

Cross-modal systems trained on 2D visual inputs are presented with a dimensional shift when processing 3D scenes. An in-scene camera bridges the dimensionality gap but requires learning a control module. We introduce a new method that…

Our goal is to extract meaningful transformations from raw images, such as varying the thickness of lines in handwriting or the lighting in a portrait. We propose an unsupervised approach to learn such transformations by attempting to…

Self-supervised learning has emerged as a promising approach for acquiring transferable 3D representations from unlabeled 3D point clouds. Unlike 2D images, which are widely accessible, acquiring 3D assets requires specialized expertise or…

For many real-world robotics applications, robots need to continually adapt and learn new concepts. Further, robots need to learn through limited data because of scarcity of labeled data in the real-world environments. To this end, my…

Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. However, it is non-trivial to manually design a robot controller that combines modalities with very different characteristics. While…

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…

Supervised keypoint localization methods rely on large manually labeled image datasets, where objects can deform, articulate, or occlude. However, creating such large keypoint labels is time-consuming and costly, and is often error-prone…

Generative adversarial networks (GANs) have attained photo-realistic quality in image generation. However, how to best control the image content remains an open challenge. We introduce LatentKeypointGAN, a two-stage GAN which is trained…