相关论文: How Physics and Background Attributes Impact Video…
This paper investigates the performance of transformer-based architectures for person identification in natural, face-to-face conversation scenario. We implement and evaluate a two-stream framework that separately models spatial…
Robotic manipulation of flexible objects is widely required in both industrial and service applications. Among such objects, paper-like materials exhibit distinct mechanical characteristics compared to cloth, being more sensitive to…
Video prediction is a fundamental task for various downstream applications, including robotics and world modeling. Although general video prediction models have achieved remarkable performance in standard scenarios, occlusion is still an…
The task of video captioning, that is, the automatic generation of sentences describing a sequence of actions in a video, has attracted an increasing attention recently. The complex and high-dimensional representation of video data makes it…
Computer vision has received a significant attention in recent year, which is one of the important parts for robots to obtain information about the external environment. Visual trackers can provide the necessary physical and environmental…
Friction plays a key role in manipulating objects. Most of what we do with our hands, and most of what robots do with their grippers, is based on the ability to control frictional forces. This paper aims to better understand the variability…
Synthesis of diverse driving scenes serves as a crucial data augmentation technique for validating the robustness and generalizability of autonomous driving systems. Current methods aggregate high-definition (HD) maps and 3D bounding boxes…
Given the large-scale multi-modal training of recent vision-based models and their generalization capabilities, understanding the extent of their robustness is critical for their real-world deployment. In this work, we evaluate the…
Inspired by the performance and scalability of autoregressive large language models (LLMs), transformer-based models have seen recent success in the visual domain. This study investigates a transformer adaptation for video prediction with a…
Autonomous driving requires robust perception models trained on high-quality, large-scale multi-view driving videos for tasks like 3D object detection, segmentation and trajectory prediction. While world models provide a cost-effective…
Existing Visual Object Tracking (VOT) only takes the target area in the first frame as a template. This causes tracking to inevitably fail in fast-changing and crowded scenes, as it cannot account for changes in object appearance between…
In this paper, an online adaptive model-free tracker is proposed to track single objects in video sequences to deal with real-world tracking challenges like low-resolution, object deformation, occlusion and motion blur. The novelty lies in…
Robotic manipulation requires understanding both the 3D spatial structure of the environment and its temporal evolution, yet most existing policies overlook one or both. They typically rely on 2D visual observations and backbones pretrained…
Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they…
Background modeling has emerged as a popular foreground detection technique for various applications in video surveillance. Background modeling methods have become increasing efficient in robustly modeling the background and hence detecting…
We investigate the problem of automatically placing an object into a background image for image compositing. Given a background image and a segmented object, the goal is to train a model to predict plausible placements (location and scale)…
Recently multimodal transformer models have gained popularity because their performance on language and vision tasks suggest they learn rich visual-linguistic representations. Focusing on zero-shot image retrieval tasks, we study three…
One of the most basic skills a robot should possess is predicting the effect of physical interactions with objects in the environment. This enables optimal action selection to reach a certain goal state. Traditionally, dynamics are…
3D world models (i.e., learning-based 3D dynamics models) offer a promising approach to generalizable robotic manipulation by capturing the underlying physics of environment evolution conditioned on robot actions. However, existing 3D world…
This thesis is concerned with deriving planning algorithms for robot manipulators. Manipulation has two effects, the robot has a physical effect on the object, and it also acquires information about the object. This thesis presents…