相关论文: Close the Sim2real Gap via Physically-based Struct…

Scalable training data generation is a critical problem in deep learning. We propose PennSyn2Real - a photo-realistic synthetic dataset consisting of more than 100,000 4K images of more than 20 types of micro aerial vehicles (MAVs). The…

Indoor scene understanding is central to applications such as robot navigation and human companion assistance. Over the last years, data-driven deep neural networks have outperformed many traditional approaches thanks to their…

We propose a method that augments a simulated dataset using diffusion models to improve the performance of pedestrian detection in real-world data. The high cost of collecting and annotating data in the real-world has motivated the use of…

3D data simulation aims to bridge the gap between simulated and real-captured 3D data, which is a fundamental problem for real-world 3D visual tasks. Most 3D data simulation methods inject predefined physical priors but struggle to capture…

Sim-to-Real refers to the process of transferring policies learned in simulation to the real world, which is crucial for achieving practical robotics applications. However, recent Sim2real methods either rely on a large amount of augmented…

Majority of the perception methods in robotics require depth information provided by RGB-D cameras. However, standard 3D sensors fail to capture depth of transparent objects due to refraction and absorption of light. In this paper, we…

We present a system for training deep neural networks for object detection using synthetic images. To handle the variability in real-world data, the system relies upon the technique of domain randomization, in which the parameters of the…

Object recognition and object pose estimation in robotic grasping continue to be significant challenges, since building a labelled dataset can be time consuming and financially costly in terms of data collection and annotation. In this…

The main challenge in learning image-conditioned robotic policies is acquiring a visual representation conducive to low-level control. Due to the high dimensionality of the image space, learning a good visual representation requires a…

Driving simulators play a large role in developing and testing new intelligent vehicle systems. The visual fidelity of the simulation is critical for building vision-based algorithms and conducting human driver experiments. Low visual…

Robotic manipulation with deformable objects represents a data-intensive regime in embodied learning, where shape, contact, and topology co-evolve in ways that far exceed the variability of rigids. Although simulation promises relief from…

Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…

The accuracy of face recognition systems has improved significantly in the past few years, thanks to the large amount of data collected and advancements in neural network architectures. However, these large-scale datasets are often…

Synthetic image data generation represents a promising avenue for training deep learning models, particularly in the realm of transfer learning, where obtaining real images within a specific domain can be prohibitively expensive due to…

We introduce a novel depth estimation technique for multi-frame structured light setups using neural implicit representations of 3D space. Our approach employs a neural signed distance field (SDF), trained through self-supervised…

Recently, deep reinforcement learning (RL) has shown some impressive successes in robotic manipulation applications. However, training robots in the real world is nontrivial owing to sample efficiency and safety concerns. Sim-to-real…

The availability of real data from areas with high privacy requirements, such as the medical intervention space, is low and the acquisition legally complex. Therefore, this work presents a way to create a synthetic dataset for the medical…

Grasping in cluttered scenes is challenging for robot vision systems, as detection accuracy can be hindered by partial occlusion of objects. We adopt a reinforcement learning (RL) framework and 3D vision architectures to search for feasible…

Spatial visual perception is a fundamental requirement in physical-world applications like autonomous driving and robotic manipulation, driven by the need to interact with 3D environments. Capturing pixel-aligned metric depth using RGB-D…

Autonomous checkout systems rely on visual and sensory inputs to carry out fine-grained scene understanding in retail environments. Retail environments present unique challenges compared to typical indoor scenes owing to the vast number of…