相关论文: FFHFlow: Diverse and Uncertainty-Aware Dexterous G…

This work presents DCFlow, a novel unsupervised cross-modal flow estimation framework that integrates a decoupled optimization strategy and a cross-modal consistency constraint. Unlike previous approaches that implicitly learn flow…

We present ShapeFlow, a flow-based model for learning a deformation space for entire classes of 3D shapes with large intra-class variations. ShapeFlow allows learning a multi-template deformation space that is agnostic to shape topology,…

Virtual instrument generation requires maintaining consistent timbre across different pitches and velocities, a challenge that existing note-level models struggle to address. We present FlowSynth, which combines distributional flow matching…

Advances in deep learning have enabled physics-informed neural networks to solve partial differential equations. Numerical differentiation using the finite-difference (FD) method is efficient in physics-constrained designs, even in…

Flow-matching models deliver state-of-the-art fidelity in image and video generation, but the inherent sequential denoising process renders them slower. Existing acceleration methods like distillation, trajectory truncation, and consistency…

Recovering world space 4D motion of two interacting hands from egocentric video is a fundamental capability for supervising robot policy learning, where wrist trajectories track the end-effector and finger articulations specify the grasp…

Understanding the dependencies among features of a dataset is at the core of most unsupervised learning tasks. However, a majority of generative modeling approaches are focused solely on the joint distribution $p(x)$ and utilize models…

Selecting out-of-reach objects is a fundamental task in mixed reality (MR). Existing methods rely on a single cue or deterministically fuse multiple cues, leading to performance degradation when the dominant cue becomes unreliable. In this…

Discrete flow models (DFMs) are a class of flexible generative models for generating discrete data, and diffusion large language models (dLLMs) can be viewed as a special case with a specific choice of mixture path and a masked source…

We propose an approach to multi-modal grasp detection that jointly predicts the probabilities that several types of grasps succeed at a given grasp pose. Given a partial point cloud of a scene, the algorithm proposes a set of feasible grasp…

Dexterous in-hand manipulation for a multi-fingered anthropomorphic hand is extremely difficult because of the high-dimensional state and action spaces, rich contact patterns between the fingers and objects. Even though deep reinforcement…

Dexterous in-hand manipulation (IHM) for arbitrary objects is challenging due to the rich and subtle contact process. Variable-friction manipulation is an alternative approach to dexterity, previously demonstrating robust and versatile 2D…

Personalization in Federated Learning (FL) aims to modify a collaboratively trained global model according to each client. Current approaches to personalization in FL are at a coarse granularity, i.e. all the input instances of a client use…

Federated Learning (FL) enables collaborative model training across multiple clients while preserving data privacy. Traditional FL methods often use a global model to fit all clients, assuming that clients' data are independent and…

Realistic simulation of dynamic scenes requires accurately capturing diverse material properties and modeling complex object interactions grounded in physical principles. However, existing methods are constrained to basic material types…

Flow matching has shown state-of-the-art performance in various generative tasks, ranging from image generation to decision-making, where generation under energy guidance (abbreviated as guidance in the following) is pivotal. However, the…

Real-time video motion transfer applications such as immersive gaming and vision-based anomaly detection require accurate yet diverse future predictions to support realistic synthesis and robust downstream decision making under uncertainty.…

This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…

Conventional diffusion models typically relies on a fixed forward process, which implicitly defines complex marginal distributions over latent variables. This can often complicate the reverse process' task in learning generative…

Normalizing flow-based generative models have been widely used in applications where the exact density estimation is of major importance. Recent research proposes numerous methods to improve their expressivity. However, conditioning on a…