相关论文: DEF-oriCORN: efficient 3D scene understanding for …

3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actionable kinematic information required for…

Learning under non-smooth objectives remains a fundamental challenge in machine learning, as abrupt changes in conditioning variables can induce highly non-smooth loss landscapes and destabilize optimization. This difficulty is particularly…

This work proposes an optimization-based manipulation planning framework where the objectives are learned functionals of signed-distance fields that represent objects in the scene. Most manipulation planning approaches rely on analytical…

We introduce FALCON, a unified self-supervised video pretraining approach for UAV action recognition from raw RGB aerial footage, requiring no additional preprocessing at inference. UAV videos exhibit severe spatial imbalance: large,…

Object manipulation in images aims to not only edit the object's presentation but also gift objects with motion. Previous methods encountered challenges in concurrently handling static editing and dynamic generation, while also struggling…

Occlusion is a common issue in 3D reconstruction from RGB-D videos, often blocking the complete reconstruction of objects and presenting an ongoing problem. In this paper, we propose a novel framework, empowered by a 2D diffusion-based…

Diffusion models generate images with an unprecedented level of quality, but how can we freely rearrange image layouts? Recent works generate controllable scenes via learning spatially disentangled latent codes, but these methods do not…

Embodied AI research has traditionally emphasized performance metrics such as success rate and cumulative reward, overlooking critical robustness and safety considerations that emerge during real-world deployment. In actual environments,…

Given a natural language instruction and an input scene, our goal is to train a model to output a manipulation program that can be executed by the robot. Prior approaches for this task possess one of the following limitations: (i) rely on…

We propose a novel explicit dense 3D reconstruction approach that processes a set of images of a scene with sensor poses and calibrations and estimates a photo-real digital model. One of the key innovations is that the underlying volumetric…

We aim to obtain an interpretable, expressive, and disentangled scene representation that contains comprehensive structural and textural information for each object. Previous scene representations learned by neural networks are often…

Humans demonstrate remarkable skill in transferring manipulation abilities across objects of varying shapes, poses, and appearances, a capability rooted in their understanding of semantic correspondences between different instances. To…

We present a novel approach to the generation of static and articulated 3D assets that has a 3D autodecoder at its core. The 3D autodecoder framework embeds properties learned from the target dataset in the latent space, which can then be…

Manipulating unseen articulated objects through visual feedback is a critical but challenging task for real robots. Existing learning-based solutions mainly focus on visual affordance learning or other pre-trained visual models to guide…

Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…

Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…

The control of robots for manipulation tasks generally relies on visual input. Recent advances in vision-language models (VLMs) enable the use of natural language instructions to condition visual input and control robots in a wider range of…

Precise object placement remains underexplored in aerial manipulation, where most systems rely on predefined target coordinates and focus primarily on grasping and control. Specifying exact placement poses, however, is cumbersome in…

We introduce a high-fidelity neural implicit dense visual Simultaneous Localization and Mapping (SLAM) system, termed DF-SLAM. In our work, we employ dictionary factors for scene representation, encoding the geometry and appearance…

In real-world environments, AI systems often face unfamiliar scenarios without labeled data, creating a major challenge for conventional scene understanding models. The inability to generalize across unseen contexts limits the deployment of…