相关论文: Building Vision Models upon Heat Conduction

We introduce a novel method for robust and accurate 3D object pose estimation from a single color image under large occlusions. Following recent approaches, we first predict the 2D projections of 3D points related to the target object and…

Transformers have recently shown superior performances on various vision tasks. The large, sometimes even global, receptive field endows Transformer models with higher representation power over their CNN counterparts. Nevertheless, simply…

Human vision achieves remarkable perceptual performance while operating under strict metabolic constraints. A key ingredient is the selective attention mechanism, driven by rapid saccadic eye movements that constantly reposition the…

In this paper, we argue that iterative computation with diffusion models offers a powerful paradigm for not only generation but also visual perception tasks. We unify tasks such as depth estimation, optical flow, and amodal segmentation…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Recently, the deep learning technology has been successfully applied in the field of image compression, leading to superior rate-distortion performance. However, a challenge of many learning-based approaches is that they often achieve…

Humans constantly contact objects to move and perform tasks. Thus, detecting human-object contact is important for building human-centered artificial intelligence. However, there exists no robust method to detect contact between the body…

Human Activity Recognition (HAR) primarily relied on traditional RGB cameras to achieve high-performance activity recognition. However, the challenging factors in real-world scenarios, such as insufficient lighting and rapid movements,…

This paper describes a method for efficiently computing parallel transport of tangent vectors on curved surfaces, or more generally, any vector-valued data on a curved manifold. More precisely, it extends a vector field defined over any…

Diffusion models have risen as a powerful tool in robotics due to their flexibility and multi-modality. While some of these methods effectively address complex problems, they often depend heavily on inference-time obstacle detection and…

Referring image segmentation is a fundamental vision-language task that aims to segment out an object referred to by a natural language expression from an image. One of the key challenges behind this task is leveraging the referring…

Diffusion Transformer (DiT), a promising diffusion model for visual generation, demonstrates impressive performance but incurs significant computational overhead. Intriguingly, analysis of pre-trained DiT models reveals that global…

We present a High-Resolution Transformer (HRFormer) that learns high-resolution representations for dense prediction tasks, in contrast to the original Vision Transformer that produces low-resolution representations and has high memory and…

Vision transformers (ViT) have demonstrated impressive performance across various machine vision problems. These models are based on multi-head self-attention mechanisms that can flexibly attend to a sequence of image patches to encode…

High-resolution representations are essential for position-sensitive vision problems, such as human pose estimation, semantic segmentation, and object detection. Existing state-of-the-art frameworks first encode the input image as a…

Computer vision enables a wide range of applications in robotics/drones, self-driving cars, smart Internet of Things, and portable/wearable electronics. For many of these applications, local embedded processing is preferred due to privacy…

Finding a low dimensional representation of hierarchical, structured data described by a network remains a challenging problem in the machine learning community. An emerging approach is embedding these networks into hyperbolic space because…

Existing visual change detectors usually adopt CNNs or Transformers for feature representation learning and focus on learning effective representation for the changed regions between images. Although good performance can be obtained by…

In this study, we present a pragmatic lightweight pose estimation model. Our model can achieve real-time predictions using low-power embedded devices. This system was found to be very accurate and achieved a 94.5% accuracy of SOTA HRNet…

Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…