相关论文: IFOR: Iterative Flow Minimization for Robotic Obje…

We propose a continuous optimization method for solving dense 3D scene flow problems from stereo imagery. As in recent work, we represent the dynamic 3D scene as a collection of rigidly moving planar segments. The scene flow problem then…

Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…

We present a method, Neural Radiance Flow (NeRFlow),to learn a 4D spatial-temporal representation of a dynamic scene from a set of RGB images. Key to our approach is the use of a neural implicit representation that learns to capture the 3D…

Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…

Optical flow estimation is crucial to a variety of vision tasks. Despite substantial recent advancements, achieving real-time on-device optical flow estimation remains a complex challenge. First, an optical flow model must be sufficiently…

Relational object rearrangement (ROR) tasks (e.g., insert flower to vase) require a robot to manipulate objects with precise semantic and geometric reasoning. Existing approaches either rely on pre-collected demonstrations that struggle to…

Segmentation and tracking of unseen object instances in discrete frames pose a significant challenge in dynamic industrial robotic contexts, such as distribution warehouses. Here, robots must handle object rearrangement, including shifting,…

Rectified flow models have become a de facto standard in image generation due to their stable sampling trajectories and high-fidelity outputs. Despite their strong generative capabilities, they face critical limitations in image editing…

The Max-Flow/Min-Cut problem is a fundamental tool in graph theory, with applications in many domains, including data mining, image segmentation, transportation planning, and many types of assignment problems, in addition to being an…

Proper regularization is crucial in inverse problems to achieve high-quality reconstruction, even with an ill-conditioned measurement system. This is particularly true for three-dimensional photoacoustic tomography, which is computationally…

Learning-based optical flow estimation has been dominated with the pipeline of cost volume with convolutions for flow regression, which is inherently limited to local correlations and thus is hard to address the long-standing challenge of…

In optical flow estimation task, coarse-to-fine (C2F) warping strategy is widely used to deal with the large displacement problem and provides efficiency and speed. However, limited by the small search range between the first images and…

This paper proposes an end-to-end trainable network, SegFlow, for simultaneously predicting pixel-wise object segmentation and optical flow in videos. The proposed SegFlow has two branches where useful information of object segmentation and…

This work proposes a robotic pipeline for picking and constrained placement of objects without geometric shape priors. Compared to recent efforts developed for similar tasks, where every object was assumed to be novel, the proposed system…

Scene flow prediction is a crucial underlying task in understanding dynamic scenes as it offers fundamental motion information. However, contemporary scene flow methods encounter three major challenges. Firstly, flow estimation solely based…

In this paper, we propose an algorithm to interpolate between a pair of images of a dynamic scene. While in the past years significant progress in frame interpolation has been made, current approaches are not able to handle images with…

Transferring appearance to 3D assets using different representations of the appearance object - such as images or text - has garnered interest due to its wide range of applications in industries like gaming, augmented reality, and digital…

In order to successfully perform manipulation tasks in new environments, such as grasping, robots must be proficient in segmenting unseen objects from the background and/or other objects. Previous works perform unseen object instance…

Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem…

The Reflow operation aims to straighten the inference trajectories of the rectified flow during training by constructing deterministic couplings between noises and images, thereby improving the quality of generated images in single-step or…