相关论文: Deep Instance Segmentation and Visual Servoing to …

In this paper, we present InSeGAN, an unsupervised 3D generative adversarial network (GAN) for segmenting (nearly) identical instances of rigid objects in depth images. Using an analysis-by-synthesis approach, we design a novel GAN…

In this work, we consider the problem of instance-wise dynamic network model selection for multi-task learning. To this end, we propose an efficient approach to exploit a compact but accurate model in a backbone architecture for each…

Insertion is a challenging haptic and visual control problem with significant practical value for manufacturing. Existing approaches in the model-based robotics community can be highly effective when task geometry is known, but are complex…

While recent semantic segmentation networks heavily rely on powerful pretrained encoders, most employ simplistic decoders, leading to suboptimal trade-offs between semantic context and fine-grained detail preservation. To address this, we…

Augmenting an agent's control with useful higher-level behaviors called options can greatly reduce the sample complexity of reinforcement learning, but manually designing options is infeasible in high-dimensional and abstract state spaces.…

Segmentation is essential for medical image analysis tasks such as intervention planning, therapy guidance, diagnosis, treatment decisions. Deep learning is becoming increasingly prominent for segmentation, where the lack of annotations,…

Scene rearrangement, like table tidying, is a challenging task in robotic manipulation due to the complexity of predicting diverse object arrangements. Web-scale trained generative models such as Stable Diffusion can aid by generating…

We propose a randomized first order optimization method--SEGA (SkEtched GrAdient method)-- which progressively throughout its iterations builds a variance-reduced estimate of the gradient from random linear measurements (sketches) of the…

Accurate and real-time surgical instrument segmentation is important in the endoscopic vision of robot-assisted surgery, and significant challenges are posed by frequent instrument-tissue contacts and continuous change of observation…

Deep Learning has become exceptionally popular in the last few years due to its success in computer vision and other fields of AI. However, deep neural networks are computationally expensive, which limits their application in low power…

High-performance semantic segmentation has achieved significant progress in recent years, often driven by increasingly large backbones and higher computational budgets. While effective, such approaches introduce substantial computational…

Due to low tissue contrast, irregular object appearance, and unpredictable location variation, segmenting the objects from different medical imaging modalities (e.g., CT, MR) is considered as an important yet challenging task. In this…

Vision-Language-Action (VLA) models trained with flow matching have demonstrated impressive capabilities on robotic manipulation tasks. However, their performance often degrades under distribution shift and on complex multi-step tasks,…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…

Long-horizon robot manipulation tasks remain challenging for Vision-Language-Action (VLA) policies due to drift and exposure bias, often denoise the entire trajectory with fixed hyperparameters, causing small geometric errors to compound…

This paper presents a weakly-supervised approach to object instance segmentation. Starting with known or predicted object bounding boxes, we learn object masks by playing a game of cut-and-paste in an adversarial learning setup. A mask…

Given the diversity of devices and the product upgrades, cross-device research has become an urgent issue that needs to be tackled. To this end, we pioneer in probing the cross-device (cameras & robotics) grasping policy in the 3D open…

Active object detection, which aims to identify objects of interest through controlled camera movements, plays a pivotal role in real-world visual perception for autonomous robotic applications, such as manufacturing tasks (e.g., assembly…

Training deep reinforcement learning agents on environments with multiple levels / scenes from the same task, has become essential for many applications aiming to achieve generalization and domain transfer from simulation to the real world.…

Recent advancements in medical imaging have resulted in more complex and diverse images, with challenges such as high anatomical variability, blurred tissue boundaries, low organ contrast, and noise. Traditional segmentation methods…