相关论文: 3D Neural Scene Representations for Visuomotor Con…

We present a system for multi-level scene awareness for robotic manipulation. Given a sequence of camera-in-hand RGB images, the system calculates three types of information: 1) a point cloud representation of all the surfaces in the scene,…

Continual learning refers to the ability of humans and animals to incrementally learn over time in a given environment. Trying to simulate this learning process in machines is a challenging task, also due to the inherent difficulty in…

In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads,…

General scene understanding for robotics requires flexible semantic representation, so that novel objects and structures which may not have been known at training time can be identified, segmented and grouped. We present an algorithm which…

Reconstructing general dynamic scenes is important for many computer vision and graphics applications. Recent works represent the dynamic scene with neural radiance fields for photorealistic view synthesis, while their surface geometry is…

Vision-centric autonomous driving has recently raised wide attention due to its lower cost. Pre-training is essential for extracting a universal representation. However, current vision-centric pre-training typically relies on either 2D or…

This paper explores the problem of reconstructing temporally consistent surfaces from a 3D point cloud sequence without correspondence. To address this challenging task, we propose DynoSurf, an unsupervised learning framework integrating a…

Traditional approaches for manipulation planning rely on an explicit geometric model of the environment to formulate a given task as an optimization problem. However, inferring an accurate model from raw sensor input is a hard problem in…

Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…

This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…

3D scene stylization aims at generating stylized images of the scene from arbitrary novel views following a given set of style examples, while ensuring consistency when rendered from different views. Directly applying methods for image or…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of walls, which must…

We propose a novel scene representation that encodes reaching distance -- the distance between any position in the scene to a goal along a feasible trajectory. We demonstrate that this environment field representation can directly guide the…

The unsupervised Pretraining method has been widely used in aiding human action recognition. However, existing methods focus on reconstructing the already present frames rather than generating frames which happen in future.In this paper, We…

Photo-realistic free-viewpoint rendering of real-world scenes using classical computer graphics techniques is challenging, because it requires the difficult step of capturing detailed appearance and geometry models. Recent studies have…

Neural radiance field (NeRF) attracts attention as a promising approach to reconstructing the 3D scene. As NeRF emerges, subsequent studies have been conducted to model dynamic scenes, which include motions or topological changes. However,…

Endowing robots with human-like physical reasoning abilities remains challenging. We argue that existing methods often disregard spatio-temporal relations and by using Graph Neural Networks (GNNs) that incorporate a relational inductive…

We investigate the use of Neural Radiance Fields (NeRF) to learn high quality 3D object category models from collections of input images. In contrast to previous work, we are able to do this whilst simultaneously separating foreground…

Estimation of 3D motion in a dynamic scene from a temporal pair of images is a core task in many scene understanding problems. In real world applications, a dynamic scene is commonly captured by a moving camera (i.e., panning, tilting or…