相关论文: Task-aligned Part-aware Panoptic Segmentation thro…

Part-level representations are important for robust person re-identification (ReID), but in practice feature quality suffers due to the body part misalignment problem. In this paper, we present a robust, compact, and easy-to-use method…

Large multimodal foundation models, particularly in the domains of language and vision, have significantly advanced various tasks, including robotics, autonomous driving, information retrieval, and grounding. However, many of these models…

Panoptic Scene Graph Generation (PSG) aims to segment objects and recognize their relations, enabling the structured understanding of an image. Previous methods focus on predicting predefined object and relation categories, hence limiting…

Despite the recent advances in multi-task learning of dense prediction problems, most methods rely on expensive labelled datasets. In this paper, we present a label efficient approach and look at jointly learning of multiple dense…

Grasping unknown objects from a single view has remained a challenging topic in robotics due to the uncertainty of partial observation. Recent advances in large-scale models have led to benchmark solutions such as GraspNet-1Billion.…

Depth completion and object detection are two crucial tasks often used for aerial 3D mapping, path planning, and collision avoidance of Uncrewed Aerial Vehicles (UAVs). Common solutions include using measurements from a LiDAR sensor;…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

In clinical applications, the utility of segmentation models is often based on the accuracy of derived downstream metrics such as organ size, rather than by the pixel-level accuracy of the segmentation masks themselves. Thus, uncertainty…

Computer vision tasks are traditionally defined and evaluated using semantic categories. However, it is known to the field that semantic classes do not necessarily correspond to a unique visual class (e.g. inside and outside of a car).…

Point cloud segmentation (PCS) aims to make per-point predictions and enables robots and autonomous driving cars to understand the environment. The range image is a dense representation of a large-scale outdoor point cloud, and segmentation…

Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of…

Accurate 3D scene representation and panoptic understanding are essential for applications such as virtual reality, robotics, and autonomous driving. However, challenges persist with existing methods, including precise 2D-to-3D mapping,…

Top-down saliency models produce a probability map that peaks at target locations specified by a task/goal such as object detection. They are usually trained in a fully supervised setting involving pixel-level annotations of objects. We…

Handling previously unseen tasks after given only a few training examples continues to be a tough challenge in machine learning. We propose TapNets, neural networks augmented with task-adaptive projection for improved few-shot learning.…

Recent co-part segmentation methods mostly operate in a supervised learning setting, which requires a large amount of annotated data for training. To overcome this limitation, we propose a self-supervised deep learning method for co-part…

Semantic segmentation aims to robustly predict coherent class labels for entire regions of an image. It is a scene understanding task that powers real-world applications (e.g., autonomous navigation). One important application, the use of…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

Supervised 3D part segmentation models are tailored for a fixed set of objects and parts, limiting their transferability to open-set, real-world scenarios. Recent works have explored vision-language models (VLMs) as a promising alternative,…

Progress in self-supervised learning has brought strong general image representation learning methods. Yet so far, it has mostly focused on image-level learning. In turn, tasks such as unsupervised image segmentation have not benefited from…

Understanding 3D scene-level affordances from natural language instructions is essential for enabling embodied agents to interact meaningfully in complex environments. However, this task remains challenging due to the need for semantic…