相关论文: ObjectFolder: A Dataset of Objects with Implicit V…

Accurate estimation of the relative pose between an object and a robot hand is critical for many manipulation tasks. However, most of the existing object-in-hand pose datasets use two-finger grippers and also assume that the object remains…

Deep-learning and large scale language-image training have produced image object detectors that generalise well to diverse environments and semantic classes. However, single-image object detectors trained on internet data are not optimally…

In this paper, we formally address universal object detection, which aims to detect every scene and predict every category. The dependence on human annotations, the limited visual information, and the novel categories in the open world…

Transparent objects are common in our daily life and frequently handled in the automated production line. Robust vision-based robotic grasping and manipulation for these objects would be beneficial for automation. However, the majority of…

Unsupervised object discovery is commonly interpreted as the task of localizing and/or categorizing objects in visual data without the need for labeled examples. While current object recognition methods have proven highly effective for…

Point scene understanding is a challenging task to process real-world scene point cloud, which aims at segmenting each object, estimating its pose, and reconstructing its mesh simultaneously. Recent state-of-the-art method first segments…

The ability to associate touch with sight is essential for tasks that require physically interacting with objects in the world. We propose a dataset with paired visual and tactile data called Touch and Go, in which human data collectors…

Visually-grounded spoken language datasets can enable models to learn cross-modal correspondences with very weak supervision. However, modern audio-visual datasets contain biases that undermine the real-world performance of models trained…

Accurate 3D reconstruction of objects with reflective, transparent, or low-texture surfaces still remains notoriously challenging. Such materials often violate key assumptions in multi-view reconstruction pipelines, such as photometric…

There is a gap in the understanding of occluded objects in existing large-scale visual language multi-modal models. Current state-of-the-art multimodal models fail to provide satisfactory results in describing occluded objects for…

We introduce Stanford-ORB, a new real-world 3D Object inverse Rendering Benchmark. Recent advances in inverse rendering have enabled a wide range of real-world applications in 3D content generation, moving rapidly from research and…

Learning meaningful and compact representations with disentangled semantic aspects is considered to be of key importance in representation learning. Since real-world data is notoriously costly to collect, many recent state-of-the-art…

This document presents novel datasets, constructed by employing the iCub robot equipped with an additional depth sensor and color camera. We used the robot to acquire color and depth information for 210 objects in different acquisition…

Understanding natural-language references to objects in dynamic 3D driving scenes is essential for interactive autonomous systems. In practice, many referring expressions describe targets through recent motion or short-term interactions,…

There now exists many popular object detectors based on deep learning that can analyze images and extract locations and class labels for occurrences of objects. For image time series (i.e., video or sequences of stills), tracking objects…

Object detection, one of the most fundamental and challenging problems in computer vision, seeks to locate object instances from a large number of predefined categories in natural images. Deep learning techniques have emerged as a powerful…

Object referring has important applications, especially for human-machine interaction. While having received great attention, the task is mainly attacked with written language (text) as input rather than spoken language (speech), which is…

The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase…

Datasets for object detection often do not account for enough variety of glasses, due to their transparent and reflective properties. Specifically, open-vocabulary object detectors, widely used in embodied robotic agents, fail to…

We introduce the task of localizing a flexible number of objects in real-world 3D scenes using natural language descriptions. Existing 3D visual grounding tasks focus on localizing a unique object given a text description. However, such a…