相关论文: Symmetry-aware Neural Architecture for Embodied Vi…

Convolution is spatially-symmetric, i.e., the visual features are independent of its position in the image, which limits its ability to utilize contextual cues for visual recognition. This paper addresses this issue by introducing a…

Recent visual place recognition (VPR) approaches have leveraged foundation models (FM) and introduced novel aggregation techniques. However, these methods have failed to fully exploit key concepts of FM, such as the effective utilization of…

Embodied scene understanding requires not only comprehending visual-spatial information that has been observed but also determining where to explore next in the 3D physical world. Existing 3D Vision-Language (3D-VL) models primarily focus…

Vision-language navigation (VLN) is the task of entailing an agent to carry out navigational instructions inside photo-realistic environments. One of the key challenges in VLN is how to conduct a robust navigation by mitigating the…

Neural implicit surfaces have become an important technique for multi-view 3D reconstruction but their accuracy remains limited. In this paper, we argue that this comes from the difficulty to learn and render high frequency textures with…

Recent neural solvers have achieved strong performance on vehicle routing problems (VRPs), yet they mainly assume symmetric Euclidean distances, restricting applicability to real-world scenarios. A core challenge is encoding the relational…

Neural implicit representations have recently demonstrated compelling results on dense Simultaneous Localization And Mapping (SLAM) but suffer from the accumulation of errors in camera tracking and distortion in the reconstruction.…

Deep Learning has seen an unprecedented increase in vision applications since the publication of large-scale object recognition datasets and introduction of scalable compute hardware. State-of-the-art methods for most vision tasks for…

We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will…

We propose SplitNet, a method for decoupling visual perception and policy learning. By incorporating auxiliary tasks and selective learning of portions of the model, we explicitly decompose the learning objectives for visual navigation into…

Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…

In this work, we consider one-shot imitation learning for object rearrangement tasks, where an AI agent needs to watch a single expert demonstration and learn to perform the same task in different environments. To achieve a strong…

We propose a novel Generalized Zero-Shot learning (GZSL) method that is agnostic to both unseen images and unseen semantic vectors during training. Prior works in this context propose to map high-dimensional visual features to the semantic…

In video games, non-player characters (NPCs) are used to enhance the players' experience in a variety of ways, e.g., as enemies, allies, or innocent bystanders. A crucial component of NPCs is navigation, which allows them to move from one…

Recent advances in computer vision take advantage of adversarial data augmentation to ameliorate the generalization ability of classification models. Here, we present an effective and efficient alternative that advocates adversarial…

Wide & Deep, a simple yet effective learning architecture for recommendation systems developed by Google, has had a significant impact in both academia and industry due to its combination of the memorization ability of generalized linear…

We integrate two powerful ideas, geometry and deep visual representation learning, into recurrent network architectures for mobile visual scene understanding. The proposed networks learn to "lift" and integrate 2D visual features over time…

How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…

With the rise of deep learning, there is a fundamental change in visual SLAM algorithms toward developing different modules trained as end-to-end pipelines. However, regardless of the implementation domain, visual SLAM's performance is…

The academic field of learning instruction-guided visual navigation can be generally categorized into high-level category-specific search and low-level language-guided navigation, depending on the granularity of language instruction, in…