相关论文: ZeroFlow: Scalable Scene Flow via Distillation

While current 3D object recognition research mostly focuses on the real-time, onboard scenario, there are many offboard use cases of perception that are largely under-explored, such as using machines to automatically generate high-quality…

Flow matching has emerged as a promising framework for training generative models, demonstrating impressive empirical performance while offering relative ease of training compared to diffusion-based models. However, this method still…

Reasoning segmentation enables open-set object segmentation via implicit text queries, therefore serving as a foundation for embodied agents that should operate autonomously in real-world environments. However, existing methods for…

Weakly supervised point cloud semantic segmentation methods that require 1\% or fewer labels, hoping to realize almost the same performance as fully supervised approaches, which recently, have attracted extensive research attention. A…

Training a 3D scene understanding model requires complicated human annotations, which are laborious to collect and result in a model only encoding close-set object semantics. In contrast, vision-language pre-training models (e.g., CLIP)…

Modern optical flow methods make use of salient scene feature points detected and matched within the scene as a basis for sparse-to-dense optical flow estimation. Current feature detectors however either give sparse, non uniform point…

We propose a method to learn explicit, class-conditioned spatial priors for object placement in natural scenes by distilling the implicit placement knowledge encoded in text-conditioned diffusion models. Prior work relies either on manually…

Synthetic datasets are widely used for training urban scene recognition models, but even highly realistic renderings show a noticeable gap to real imagery. This gap is particularly pronounced when adapting to a specific target domain, such…

In this paper, we present a new self-supervised scene flow estimation approach for a pair of consecutive point clouds. The key idea of our approach is to represent discrete point clouds as continuous probability density functions using…

Modern autonomous vehicles rely heavily on mechanical LiDARs for perception. Current perception methods generally require 360{\deg} point clouds, collected sequentially as the LiDAR scans the azimuth and acquires consecutive wedge-shaped…

Diffusion Transformers currently lead the field in high-quality video generation, but their slow iterative denoising process and prohibitive quadratic attention costs for long sequences create significant inference bottlenecks. While both…

Fine-tuning vision-language models (VLMs) like CLIP to downstream tasks is often necessary to optimize their performance. However, a major obstacle is the limited availability of labeled data. We study the use of pseudolabels, i.e.,…

Recent advancements in camera-based 3D object detection have introduced cross-modal knowledge distillation to bridge the performance gap with LiDAR 3D detectors, leveraging the precise geometric information in LiDAR point clouds. However,…

The Distribution Matching Distillation (DMD) has been successfully applied to text-to-image diffusion models such as Stable Diffusion (SD) 1.5. However, vanilla DMD suffers from convergence difficulties on large-scale flow-based…

Purpose: In curriculum learning, the idea is to train on easier samples first and gradually increase the difficulty, while in self-paced learning, a pacing function defines the speed to adapt the training progress. While both methods…

We address the challenge of getting efficient yet accurate recognition systems with limited labels. While recognition models improve with model size and amount of data, many specialized applications of computer vision have severe resource…

Scene flow estimation, which aims to predict per-point 3D displacements of dynamic scenes, is a fundamental task in the computer vision field. However, previous works commonly suffer from unreliable correlation caused by locally constrained…

The rapid advancement in visual generation, particularly the emergence of pre-trained text-to-image and text-to-video models, has catalyzed growing interest in training-free video editing research. Mirroring training-free image editing…

The unsupervised 3D object detection is to accurately detect objects in unstructured environments with no explicit supervisory signals. This task, given sparse LiDAR point clouds, often results in compromised performance for detecting…

Collecting multi-view driving scenario videos to enhance the performance of 3D visual perception tasks presents significant challenges and incurs substantial costs, making generative models for realistic data an appealing alternative. Yet,…