相关论文: Unsupervised 3D Perception with 2D Vision-Language…

Multi-label classification is crucial for comprehensive image understanding, yet acquiring accurate annotations is challenging and costly. To address this, a recent study suggests exploiting unsupervised multi-label classification…

Embodied agents must detect and localize objects of interest, e.g. traffic participants for self-driving cars. Supervision in the form of bounding boxes for this task is extremely expensive. As such, prior work has looked at unsupervised…

LiDAR-based 3D object detection and semantic segmentation are critical tasks in 3D scene understanding. Traditional detection and segmentation methods supervise their models through bounding box labels and semantic mask labels. However,…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

Modern 3D object detection datasets are constrained by narrow class taxonomies and costly manual annotations, limiting their ability to scale to open-world settings. In contrast, 2D vision-language models trained on web-scale image-text…

While 2D diffusion models have achieved remarkable success in identity-preserving personalization, extending this capability to 3D assets remains a significant challenge due to the complexities of multi-view consistency and spatial control.…

We propose a deep video prediction model conditioned on a single image and an action class. To generate future frames, we first detect keypoints of a moving object and predict future motion as a sequence of keypoints. The input image is…

In the field of autonomous driving, self-training is widely applied to mitigate distribution shifts in LiDAR-based 3D object detectors. This eliminates the need for expensive, high-quality labels whenever the environment changes (e.g.,…

Autonomous robot navigation within the dynamic unknown environment is of crucial significance for mobile robotic applications including robot navigation in last-mile delivery and robot-enabled automated supplies in industrial and hospital…

This work investigates learning pixel-wise semantic image segmentation in urban scenes without any manual annotation, just from the raw non-curated data collected by cars which, equipped with cameras and LiDAR sensors, drive around a city.…

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.,…

Unsupervised 3D object detection serves as an important solution for offline 3D object annotation. However, due to the data sparsity and limited views, the clustering-based label fitting in unsupervised object detection often generates…

Unsupervised object-centric learning methods allow the partitioning of scenes into entities without additional localization information and are excellent candidates for reducing the annotation burden of multiple-object tracking (MOT)…

In the past few years we have seen great advances in object perception (particularly in 4D space-time dimensions) thanks to deep learning methods. However, they typically rely on large amounts of high-quality labels to achieve good…

The recent success in human action recognition with deep learning methods mostly adopt the supervised learning paradigm, which requires significant amount of manually labeled data to achieve good performance. However, label collection is an…

Pre-trained vision-language models have notably accelerated progress of open-world concept recognition. Their impressive zero-shot ability has recently been transferred to multi-label image classification via prompt tuning, enabling to…

In robotic applications, we often face the challenge of discovering new objects while having very little or no labelled training data. In this paper we explore the use of self-supervision provided by a robot traversing an environment to…

Training deep neural networks to estimate the viewpoint of objects requires large labeled training datasets. However, manually labeling viewpoints is notoriously hard, error-prone, and time-consuming. On the other hand, it is relatively…

Practical autonomous driving systems face two crucial challenges: memory constraints and domain gap issues. In this paper, we present a novel approach to learn domain adaptive knowledge in models with limited memory, thus bestowing the…

Traditional 3D scene understanding approaches rely on labeled 3D datasets to train a model for a single task with supervision. We propose OpenScene, an alternative approach where a model predicts dense features for 3D scene points that are…