相关论文: SynPick: A Dataset for Dynamic Bin Picking Scene U…

Generative image models have emerged as a promising technology to produce realistic images. Despite potential benefits, concerns grow about its misuse, particularly in generating deceptive images that could raise significant ethical, legal,…

Bin picking is a challenging robotic task due to occlusions and physical constraints that limit visual information for object recognition and grasping. Existing approaches often rely on known CAD models or prior object geometries,…

To address the challenge of short-term object pose tracking in dynamic environments with monocular RGB input, we introduce a large-scale synthetic dataset OmniPose6D, crafted to mirror the diversity of real-world conditions. We additionally…

There has been increasing interest in smart factories powered by robotics systems to tackle repetitive, laborious tasks. One impactful yet challenging task in robotics-powered smart factory applications is robotic grasping: using robotic…

Robots that autonomously manipulate objects within warehouses have the potential to shorten the package delivery time and improve the efficiency of the e-commerce industry. In this paper, we present a robotic system that is capable of both…

By estimating 3D shape and instances from a single view, we can capture information about an environment quickly, without the need for comprehensive scanning and multi-view fusion. Solving this task for composite scenes (such as object…

We present WinSyn, a unique dataset and testbed for creating high-quality synthetic data with procedural modeling techniques. The dataset contains high-resolution photographs of windows, selected from locations around the world, with 89,318…

Until recently, the general corpus of CLIP-type fundamental models has widely explored either the retrieval of short descriptions or the classification of objects in the scene as SINGLE-object image classification task. The same holds for…

Adapting to a continuously evolving environment is a safety-critical challenge inevitably faced by all autonomous driving systems. Existing image and video driving datasets, however, fall short of capturing the mutable nature of the real…

Most reinforcement learning algorithms are based on a key assumption that Markov decision processes (MDPs) are stationary. However, non-stationary MDPs with dynamic action space are omnipresent in real-world scenarios. Yet problems of…

Synthetic data generation has emerged as a promising solution to the data scarcity issue in aerial-view human detection. However, creating datasets that accurately reflect varying real-world human appearances, particularly diverse poses,…

We present the Semantic Robot Programming (SRP) paradigm as a convergence of robot programming by demonstration and semantic mapping. In SRP, a user can directly program a robot manipulator by demonstrating a snapshot of their intended goal…

Recent advances in world models have demonstrated strong capabilities in simulating physical reality, making them an increasingly important foundation for embodied intelligence. For UAV agents in particular, accurate prediction of complex…

Panoptic tracking enables pixel-level scene interpretation of videos by integrating instance tracking in panoptic segmentation. This provides robots with a spatio-temporal understanding of the environment, an essential attribute for their…

The advancement of autonomous driving is increasingly reliant on high-quality annotated datasets, especially in the task of 3D occupancy prediction, where the occupancy labels require dense 3D annotation with significant human effort. In…

Scalable training data generation is a critical problem in deep learning. We propose PennSyn2Real - a photo-realistic synthetic dataset consisting of more than 100,000 4K images of more than 20 types of micro aerial vehicles (MAVs). The…

Robotic task planning in real-world environments requires not only object recognition but also a nuanced understanding of spatial relationships between objects. We present a spatial-relationship-aware dataset of nearly 1,000 robot-acquired…

Recently, the use of synthetic datasets based on game engines has been shown to improve the performance of several tasks in computer vision. However, these datasets are typically only appropriate for the specific domains depicted in…

Synthetic datasets are important for evaluating and testing machine learning models. When evaluating real-life recommender systems, high-dimensional categorical (and sparse) datasets are often considered. Unfortunately, there are not many…

Datasets are essential to train and evaluate computer vision models used for traffic analysis and to enhance road safety. Existing real datasets fit real-world scenarios, capturing authentic road object behaviors, however, they typically…