相关论文: Distilled Feature Fields Enable Few-Shot Language-…

Grasping is one of the most fundamental challenging capabilities in robotic manipulation, especially in unstructured, cluttered, and semantically diverse environments. Recent researches have increasingly explored language-guided…

Accurately simulating existing 3D objects and a wide variety of materials often demands expert knowledge and time-consuming physical parameter tuning to achieve the desired dynamic behavior. We introduce MotionPhysics, an end-to-end…

This paper presents a grounded language-image pre-training (GLIP) model for learning object-level, language-aware, and semantic-rich visual representations. GLIP unifies object detection and phrase grounding for pre-training. The…

We present Semantify: a self-supervised method that utilizes the semantic power of CLIP language-vision foundation model to simplify the control of 3D morphable models. Given a parametric model, training data is created by randomly sampling…

Existing vision-language models (VLMs) such as CLIP have showcased an impressive capability to generalize well across various downstream tasks. These models leverage the synergy between visual and textual information, enabling them to…

Domain generalization studies the problem of training a model with samples from several domains (or distributions) and then testing the model with samples from a new, unseen domain. In this paper, we propose a novel approach for domain…

Indoor scene semantic parsing from RGB images is very challenging due to occlusions, object distortion, and viewpoint variations. Going beyond prior works that leverage geometry information, typically paired depth maps, we present a new…

The 6-Degree of Freedom (DoF) grasp method based on point clouds has shown significant potential in enabling robots to grasp target objects. However, most existing methods are based on the point clouds (2.5D points) generated from…

Few-shot segmentation remains challenging due to the limitations of its labeling information for unseen classes. Most previous approaches rely on extracting high-level feature maps from the frozen visual encoder to compute the pixel-wise…

Contrastive Language-Image Pre-training (CLIP) has achieved excellent performance over a wide range of tasks. However, the effectiveness of CLIP heavily relies on a substantial corpus of pre-training data, resulting in notable consumption…

We address the problem of learning new classes for semantic segmentation models from few examples, which is challenging because of the following two reasons. Firstly, it is difficult to learn from limited novel data to capture the…

Recently, methods have been proposed for 3D open-vocabulary semantic segmentation. Such methods are able to segment scenes into arbitrary classes based on text descriptions provided during runtime. In this paper, we propose to the best of…

Vision-Language Pre-training (VLP) shows remarkable progress with the assistance of extremely heavy parameters, which challenges deployment in real applications. Knowledge distillation is well recognized as the essential procedure in model…

Object-level manipulation, relocating or reorienting objects in images or videos while preserving scene realism, is central to film post-production, AR, and creative editing. Yet existing methods struggle to jointly achieve three core…

CLIP has shown impressive results in aligning images and texts at scale. However, its ability to capture detailed visual features remains limited because CLIP matches images and texts at a global level. To address this issue, we propose…

Grasping unseen objects in unconstrained, cluttered environments is an essential skill for autonomous robotic manipulation. Despite recent progress in full 6-DoF grasp learning, existing approaches often consist of complex sequential…

Unsupervised learning of object-centric representations in dynamic visual scenes is challenging. Unlike most previous approaches that learn to decompose 2D images, we present DynaVol, a 3D scene generative model that unifies geometric…

Learning descriptive 3D features is crucial for understanding 3D scenes with diverse objects and complex structures. However, it is usually unknown whether important geometric attributes and scene context obtain enough emphasis in an…

Self-supervised learning has achieved remarkable success in learning visual representations from clean data, yet remains challenging when clean observations are sparse or not available at all. In this paper, we demonstrate that pretrained…

With the widespread application of drones in recent years, object detection of aerial images has attracted increasing attention, especially open-vocabulary aerial detection which is not restricted to predefined categories. Due to the…