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

The ability of a robot to pick an object, known as robot grasping, is crucial for several applications, such as assembly or sorting. In such tasks, selecting the right target to pick is as essential as inferring a correct configuration of…

General scene understanding for robotics requires flexible semantic representation, so that novel objects and structures which may not have been known at training time can be identified, segmented and grouped. We present an algorithm which…

Recent advances in 3D object detection (3DOD) have obtained remarkably strong results for LiDAR-based models. In contrast, surround-view 3DOD models based on multiple camera images underperform due to the necessary view transformation of…

We study zero-shot 3D alignment of two given meshes, using a text prompt describing their spatial relation -- an essential capability for content creation and scene assembly. Earlier approaches primarily rely on geometric alignment…

Few-shot knowledge distillation recently emerged as a viable approach to harness the knowledge of large-scale pre-trained models, using limited data and computational resources. In this paper, we propose a novel few-shot feature…

Foundation models like CLIP (Contrastive Language-Image Pretraining) have revolutionized vision-language tasks by enabling zero-shot and few-shot learning through cross-modal alignment. However, their computational complexity and large…

We propose a new setting for detecting unseen objects called Zero-shot Annotation object Detection (ZAD). It expands the zero-shot object detection setting by allowing the novel objects to exist in the training images and restricts the…

Training models to apply linguistic knowledge and visual concepts from 2D images to 3D world understanding is a promising direction that researchers have only recently started to explore. In this work, we design a novel 3D pre-training…

In this paper, we propose the LiDAR Distillation to bridge the domain gap induced by different LiDAR beams for 3D object detection. In many real-world applications, the LiDAR points used by mass-produced robots and vehicles usually have…

Generating natural hand-object interactions in 3D is challenging as the resulting hand and object motions are expected to be physically plausible and semantically meaningful. Furthermore, generalization to unseen objects is hindered by the…

In this paper we set out to solve the task of 6-DOF 3D object detection from 2D images, where the only supervision is a geometric representation of the objects we aim to find. In doing so, we remove the need for 6-DOF labels (i.e.,…

Recognizing the activities causing distraction in real-world driving scenarios is critical for ensuring the safety and reliability of both drivers and pedestrians on the roadways. Conventional computer vision techniques are typically…

Understanding 3D scenes is a crucial challenge in computer vision research with applications spanning multiple domains. Recent advancements in distilling 2D vision-language foundation models into neural fields, like NeRF and 3DGS, enable…

A core capability for robot manipulation is reasoning over where and how to stably place objects in cluttered environments. Traditionally, robots have relied on object-specific, hand-crafted heuristics in order to perform such reasoning,…

Learning robotic manipulation skills from vision is a promising approach for developing robotics applications that can generalize broadly to real-world scenarios. As such, many approaches to enable this vision have been explored with…

Knowledge distillation (KD) has witnessed its powerful capability in learning compact models in object detection. Previous KD methods for object detection mostly focus on imitating deep features within the imitation regions instead of…

Single-domain generalization is essential for object detection, particularly when training models on a single source domain and evaluating them on unseen target domains. Domain shifts, such as changes in weather, lighting, or scene…

Pre-trained on extensive and diverse multi-modal datasets, 2D foundation models excel at addressing 2D tasks with little or no downstream supervision, owing to their robust representations. The emergence of 2D-to-3D distillation frameworks…

In this paper, we study the problem of 3D scene geometry decomposition and manipulation from 2D views. By leveraging the recent implicit neural representation techniques, particularly the appealing neural radiance fields, we introduce an…

Curved objects pose a fundamental challenge for skill transfer in robotics: unlike planar surfaces, they do not admit a global reference frame. As a result, task-relevant directions such as "toward" or "along" the surface vary with position…