相关论文: ProgressLabeller: Visual Data Stream Annotation fo…

State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…

Human detection and tracking is an essential task for service robots, where the combined use of multiple sensors has potential advantages that are yet to be exploited. In this paper, we introduce a framework allowing a robot to learn a new…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

Robotic systems often require precise scene analysis capabilities, especially in unstructured, cluttered situations, as occurring in human-made environments. While current deep-learning based methods yield good estimates of object poses,…

Resource-constrained perception systems such as edge computing and vision-for-robotics require vision models to be both accurate and lightweight in computation and memory usage. While knowledge distillation is a proven strategy to enhance…

Aligning multiple modalities in a latent space, such as images and texts, has shown to produce powerful semantic visual representations, fueling tasks like image captioning, text-to-image generation, or image grounding. In the context of…

Depth estimation is a fundamental task in 3D computer vision, crucial for applications such as 3D reconstruction, free-viewpoint rendering, robotics, autonomous driving, and AR/VR technologies. Traditional methods relying on hardware…

Supervised deep learning models require significant amount of labeled data to achieve an acceptable performance on a specific task. However, when tested on unseen data, the models may not perform well. Therefore, the models need to be…

Long-horizon robotic manipulation requires dense feedback that reflects how a task advances through its procedural stages, not merely whether the final outcome is successful. Existing reward models often rely on trajectory-level success…

A major bottleneck to scaling-up training of self-driving perception systems are the human annotations required for supervision. A promising alternative is to leverage "auto-labelling" offboard perception models that are trained to…

One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…

Self-supervised vision-and-language pretraining (VLP) aims to learn transferable multi-modal representations from large-scale image-text data and to achieve strong performances on a broad scope of vision-language tasks after finetuning.…

Object pose estimation of transparent objects remains a challenging task in the field of robot vision due to the immense influence of lighting, background, and reflections. However, the edges of clear objects have the highest contrast,…

State-of-the-art object grasping methods rely on depth sensing to plan robust grasps, but commercially available depth sensors fail to detect transparent and specular objects. To improve grasping performance on such objects, we introduce a…

This study builds on the architecture of the Disentangler of Visual Priors (DVP), a type of autoencoder that learns to interpret scenes by decomposing the perceived objects into independent visual aspects of shape, size, orientation, and…

Labeling LiDAR point clouds is notoriously time-and-energy-consuming, which spurs recent unsupervised 3D representation learning methods to alleviate the labeling burden in LiDAR perception via pretrained weights. Almost all existing work…

3D pre-training is crucial to 3D perception tasks. Nevertheless, limited by the difficulties in collecting clean and complete 3D data, 3D pre-training has persistently faced data scaling challenges. In this work, we introduce a novel…

Deep learning has gained broad interest in remote sensing image scene classification thanks to the effectiveness of deep neural networks in extracting the semantics from complex data. However, deep networks require large amounts of training…

Applying end-to-end learning to solve complex, interactive, pixel-driven control tasks on a robot is an unsolved problem. Deep Reinforcement Learning algorithms are too slow to achieve performance on a real robot, but their potential has…

The current trend in object detection and localization is to learn predictions with high capacity deep neural networks trained on a very large amount of annotated data and using a high amount of processing power. In this work, we propose a…