相关论文: Boosting Generalizability towards Zero-Shot Cross-…

3D perception ability is crucial for generalizable robotic manipulation. While recent foundation models have made significant strides in perception and decision-making with RGB-based input, their lack of 3D perception limits their…

Transferring the absolute depth prediction capabilities of an estimator to a new domain is a task with significant real-world applications. This task is specifically challenging when images from the new domain are collected without…

Difficult few-shot image recognition has significant application prospects, yet remaining the substantial technical gaps with the conventional large-scale image recognition. In this paper, we have proposed an efficient original method for…

This paper addresses the problem of single image depth estimation (SIDE), focusing on improving the quality of deep neural network predictions. In a supervised learning scenario, the quality of predictions is intrinsically related to the…

The lack of annotated medical images limits the performance of deep learning models, which usually need large-scale labelled datasets. Few-shot learning techniques can reduce data scarcity issues and enhance medical image analysis,…

Learning based methods have shown very promising results for the task of depth estimation in single images. However, most existing approaches treat depth prediction as a supervised regression problem and as a result, require vast quantities…

We present a novel algorithm for self-supervised monocular depth completion. Our approach is based on training a neural network that requires only sparse depth measurements and corresponding monocular video sequences without dense depth…

Low-light image enhancement remains a challenging task, particularly in the absence of paired training data. In this study, we present LucentVisionNet, a novel zero-shot learning framework that addresses the limitations of traditional and…

Indoor robot navigation is often compromised by glass surfaces, which severely corrupt depth sensor measurements. While foundation models like Depth Anything 3 provide excellent geometric priors, they lack an absolute metric scale. We…

Depth estimation plays an important role in the robotic perception system. Self-supervised monocular paradigm has gained significant attention since it can free training from the reliance on depth annotations. Despite recent advancements,…

RGB-D tracking significantly improves the accuracy of object tracking. However, its dependency on real depth inputs and the complexity involved in multi-modal fusion limit its applicability across various scenarios. The utilization of depth…

Self-supervised depth estimation for indoor environments is more challenging than its outdoor counterpart in at least the following two aspects: (i) the depth range of indoor sequences varies a lot across different frames, making it…

State-of-the-art, high capacity deep neural networks not only require large amounts of labelled training data, they are also highly susceptible to label errors in this data, typically resulting in large efforts and costs and therefore…

Imitation learning has gained immense popularity because of its high sample-efficiency. However, in real-world scenarios, where the trajectory distribution of most of the tasks dynamically shifts, model fitting on continuously aggregated…

Transfer-learning and meta-learning are two effective methods to apply knowledge learned from large data sources to new tasks. In few-class, few-shot target task settings (i.e. when there are only a few classes and training examples…

Background: Deep learning models are typically trained using stochastic gradient descent or one of its variants. These methods update the weights using their gradient, estimated from a small fraction of the training data. It has been…

Meta-training has been empirically demonstrated to be the most effective pre-training method for few-shot learning of medical image classifiers (i.e., classifiers modeled with small training sets). However, the effectiveness of…

Meta-learning automatically infers an inductive bias by observing data from a number of related tasks. The inductive bias is encoded by hyperparameters that determine aspects of the model class or training algorithm, such as initialization…

Despite its astounding success in learning deeper multi-dimensional data, the performance of deep learning declines on new unseen tasks mainly due to its focus on same-distribution prediction. Moreover, deep learning is notorious for poor…

Uncertainty quantification is essential for robotic perception, as overconfident or point estimators can lead to collisions and damages to the environment and the robot. In this paper, we evaluate scalable approaches to uncertainty…