相关论文: Open-Vocabulary Affordance Detection using Knowled…

Despite the recent advances in the field of object detection, common architectures are still ill-suited to incrementally detect new categories over time. They are vulnerable to catastrophic forgetting: they forget what has been already…

To ease the difficulty of acquiring annotation labels in 3D data, a common method is using unsupervised and open-vocabulary semantic segmentation, which leverage 2D CLIP semantic knowledge. In this paper, unlike previous research that…

Open-vocabulary segmentation of 3D scenes is a fundamental function of human perception and thus a crucial objective in computer vision research. However, this task is heavily impeded by the lack of large-scale and diverse 3D…

Knowledge distillation (KD) is a widely adopted and effective method for compressing models in object detection tasks. Particularly, feature-based distillation methods have shown remarkable performance. Existing approaches often ignore the…

Object detection in documents is a key step to automate the structural elements identification process in a digital or scanned document through understanding the hierarchical structure and relationships between different elements. Large and…

Currently, task-oriented grasp detection approaches are mostly based on pixel-level affordance detection and semantic segmentation. These pixel-level approaches heavily rely on the accuracy of a 2D affordance mask, and the generated grasp…

The performance of autoregressive models on natural language generation tasks has dramatically improved due to the adoption of deep, self-attentive architectures. However, these gains have come at the cost of hindering inference speed,…

Understanding 3D scenes is pivotal for autonomous driving, robotics, and augmented reality. Recent semantic Gaussian Splatting approaches leverage large-scale 2D vision models to project 2D semantic features onto 3D scenes. However, they…

In recent years, knowledge distillation (KD) has been widely used to derive efficient models. Through imitating a large teacher model, a lightweight student model can achieve comparable performance with more efficiency. However, most…

Humans show an innate capability to identify tools to support specific actions. The association between objects parts and the actions they facilitate is usually named affordance. Being able to segment objects parts depending on the tasks…

3D visual grounding involves finding a target object in a 3D scene that corresponds to a given sentence query. Although many approaches have been proposed and achieved impressive performance, they all require dense object-sentence pair…

Knowledge distillation is an effective method for training small and efficient deep learning models. However, the efficacy of a single method can degenerate when transferring to other tasks, modalities, or even other architectures. To…

We introduce Open3DIS, a novel solution designed to tackle the problem of Open-Vocabulary Instance Segmentation within 3D scenes. Objects within 3D environments exhibit diverse shapes, scales, and colors, making precise instance-level…

As virtual assistants have become more diverse and specialized, so has the demand for application or brand-specific wake words. However, the wake-word-specific datasets typically used to train wake-word detectors are costly to create. In…

Existing approaches for unsupervised point cloud pre-training are constrained to either scene-level or point/voxel-level instance discrimination. Scene-level methods tend to lose local details that are crucial for recognizing the road…

3D semantic scene understanding is essential for digital twins, autonomous driving, smart agriculture, and embodied perception, yet dense point-wise annotation for point clouds remains expensive and difficult to scale. Existing…

Lexical semantics and cognitive science point to affordances (i.e. the actions that objects support) as critical for understanding and representing nouns and verbs. However, study of these semantic features has not yet been integrated with…

Current state-of-the-art object detectors are at the expense of high computational costs and are hard to deploy to low-end devices. Knowledge distillation, which aims at training a smaller student network by transferring knowledge from a…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

Open-vocabulary 3D Object Detection (OV-3DDet) aims to detect objects from an arbitrary list of categories within a 3D scene, which remains seldom explored in the literature. There are primarily two fundamental problems in OV-3DDet, i.e.,…