相关论文: Structure-Aware Motion Transfer with Deformable An…

Objects within a category are often similar in their shape and usage. When we---as humans---want to grasp something, we transfer our knowledge from past experiences and adapt it to novel objects. In this paper, we propose a new approach for…

Recent DETR-based video grounding models have made the model directly predict moment timestamps without any hand-crafted components, such as a pre-defined proposal or non-maximum suppression, by learning moment queries. However, their…

We propose a novel Transformer-based architecture for the task of generative modelling of 3D human motion. Previous work commonly relies on RNN-based models considering shorter forecast horizons reaching a stationary and often implausible…

Manipulating deformable objects is a ubiquitous task in household environments, demanding adequate representation and accurate dynamics prediction due to the objects' infinite degrees of freedom. This work proposes DeformNet, which utilizes…

We present a novel motion generation approach for robot arms, with high degrees of freedom, in complex settings that can adapt online to obstacles or new via points. Learning from Demonstration facilitates rapid adaptation to new tasks and…

Following the tracking-by-attention paradigm, this paper introduces an object-centric, transformer-based framework for tracking in 3D. Traditional model-based tracking approaches incorporate the geometric effect of object- and ego motion…

Current image translation methods, albeit effective to produce high-quality results in various applications, still do not consider much geometric transform. We in this paper propose the spontaneous motion estimation module, along with a…

We address the challenge of learning to manipulate deformable objects with unknown dynamics. In non-rigid objects, the dynamics parameters define how they react to interactions -- how they stretch, bend, compress, and move -- and they are…

Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…

Face image animation from a single image has achieved remarkable progress. However, it remains challenging when only sparse landmarks are available as the driving signal. Given a source face image and a sequence of sparse face landmarks,…

Reliable perception is essential for robots that interact with the world. But sensors alone are often insufficient to provide this capability, and they are prone to errors due to various conditions in the environment. Furthermore, there is…

Pose-driven full-body avatars built on neural rendering produce high-quality novel views of a captured subject. Yet loose clothing and other dynamic elements deform in ways pose alone cannot explain: the same pose can correspond to many…

Real-time object detection is critical for the decision-making process for many real-world applications, such as collision avoidance and path planning in autonomous driving. This work presents an innovative real-time streaming perception…

Automating the analysis of surveillance video footage is of great interest when urban environments or industrial sites are monitored by a large number of cameras. As anomalies are often context-specific, it is hard to predefine events of…

Transformer-based detection and segmentation methods use a list of learned detection queries to retrieve information from the transformer network and learn to predict the location and category of one specific object from each query. We…

Deep learning-based cardiac segmentation has seen significant advancements over the years. Many studies have tackled the challenge of anatomically incorrect segmentation predictions by introducing auxiliary modules. These modules either…

This work proposes DOFS, a pilot dataset of 3D deformable objects (DOs) (e.g., elasto-plastic objects) with full spatial information (i.e., top, side, and bottom information) using a novel and low-cost data collection platform with a…

Current Structure-from-Motion (SfM) methods typically follow a two-stage pipeline, combining learned or geometric pairwise reasoning with a subsequent global optimization step. In contrast, we propose a data-driven multi-view reasoning…

Robots can rapidly acquire new skills from demonstrations. However, during generalisation of skills or transitioning across fundamentally different skills, it is unclear whether the robot has the necessary knowledge to perform the task.…

We present ShapeFlow, a flow-based model for learning a deformation space for entire classes of 3D shapes with large intra-class variations. ShapeFlow allows learning a multi-template deformation space that is agnostic to shape topology,…