相关论文: iPOKE: Poking a Still Image for Controlled Stochas…

3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…

Monocular dynamic reconstruction is a challenging and long-standing vision problem due to the highly ill-posed nature of the task. Existing approaches depend on templates, are effective only in quasi-static scenes, or fail to model 3D…

Object pose estimation is an integral part of robot vision and AR. Previous 6D pose retrieval pipelines treat the problem either as a regression task or discretize the pose space to classify. We change this paradigm and reformulate the…

Human pose estimation in videos remains a challenge, largely due to the reliance on extensive manual annotation of large datasets, which is expensive and labor-intensive. Furthermore, existing approaches often struggle to capture long-range…

This work introduces PokeRRT, a novel motion planning algorithm that demonstrates poking as an effective non-prehensile manipulation skill to enable fast manipulation of objects and increase the size of a robot's reachable workspace. Our…

3D human pose estimation from a monocular video has recently seen significant improvements. However, most state-of-the-art methods are kinematics-based, which are prone to physically implausible motions with pronounced artifacts. Current…

Controllable human image animation aims to generate videos from reference images using driving videos. Due to the limited control signals provided by sparse guidance (e.g., skeleton pose), recent works have attempted to introduce additional…

Classical visual simultaneous localization and mapping (SLAM) algorithms usually assume the environment to be rigid. This assumption limits the applicability of those algorithms as they are unable to accurately estimate the camera poses and…

In this paper, we present Tac2Pose, an object-specific approach to tactile pose estimation from the first touch for known objects. Given the object geometry, we learn a tailored perception model in simulation that estimates a probability…

Object state changes in video reveal critical cues about human and agent activity. However, existing methods are limited to temporal localization of when the object is in its initial state (e.g., cheese block) versus when it has completed a…

Digital human motion synthesis is a vibrant research field with applications in movies, AR/VR, and video games. Whereas methods were proposed to generate natural and realistic human motions, most only focus on modeling humans and largely…

Functions with jumps and kinks typically arising from parameter dependent or stochastic hyperbolic PDEs are notoriously difficult to approximate. If the jump location in physical space is parameter dependent or random, standard…

This work investigates how the intricate task of a continuous pick & place (P&P) motion may be learned from humans based on demonstrations and corrections. Due to the complexity of the task, these demonstrations are often slow and even…

We tackle the task of stylizing video objects in an intuitive and semantic manner following a user-specified text prompt. This is a challenging task as the resulting video must satisfy multiple properties: (1) it has to be temporally…

Manipulating unknown objects in a cluttered environment is difficult because segmentation of the scene into objects, that is, object composition is uncertain. Due to this uncertainty, earlier work has concentrated on either identifying the…

Predicting future frames of a video is challenging because it is difficult to learn the uncertainty of the underlying factors influencing their contents. In this paper, we propose a novel video prediction model, which has…

Most state-of-the-art localization algorithms rely on robust relative pose estimation and geometry verification to obtain moving object agnostic camera poses in complex indoor environments. However, this approach is prone to mistakes if a…

The ability to model the underlying dynamics of visual scenes and reason about the future is central to human intelligence. Many attempts have been made to empower intelligent systems with such physical understanding and prediction…

We study the problem of synthesizing a number of likely future frames from a single input image. In contrast to traditional methods that have tackled this problem in a deterministic or non-parametric way, we propose to model future frames…

Learning human-object manipulation presents significant challenges due to its fine-grained and contact-rich nature of the motions involved. Traditional physics-based animation requires extensive modeling and manual setup, and more…