相关论文: View-Invariant Policy Learning via Zero-Shot Novel…

Visuomotor policies trained via behavior cloning are vulnerable to covariate shift, where small deviations from expert trajectories can compound into failure. Common strategies to mitigate this issue involve expanding the training…

Despite recent breakthroughs in reinforcement learning (RL) and imitation learning (IL), existing algorithms fail to generalize beyond the training environments. In reality, humans can adapt to new tasks quickly by leveraging prior…

We propose UpFusion, a system that can perform novel view synthesis and infer 3D representations for an object given a sparse set of reference images without corresponding pose information. Current sparse-view 3D inference methods typically…

Recent advances in feed-forward Novel View Synthesis (NVS) have led to a divergence between two design philosophies: bias-driven methods, which rely on explicit 3D knowledge, such as handcrafted 3D representations (e.g., NeRF and 3DGS) and…

Novel-view synthesis (NVS) can be tackled through different approaches, depending on the general setting: a single source image to a short video sequence, exact or noisy camera pose information, 3D-based information such as point clouds…

Imitation learning of robot policies from few demonstrations is crucial in open-ended applications. We propose a new method, Interaction Warping, for learning SE(3) robotic manipulation policies from a single demonstration. We infer the 3D…

Recent advancements in differentiable rendering and 3D reasoning have driven exciting results in novel view synthesis from a single image. Despite realistic results, methods are limited to relatively small view change. In order to…

Visuomotor policies learned from teleoperated demonstrations face challenges such as lengthy data collection, high costs, and limited data diversity. Existing approaches address these issues by augmenting image observations in RGB space or…

Efficiently predicting motion plans directly from vision remains a fundamental challenge in robotics, where planning typically requires explicit goal specification and task-specific design. Recent vision-language-action (VLA) models infer…

A generalist robot must be able to complete a variety of tasks in its environment. One appealing way to specify each task is in terms of a goal observation. However, learning goal-reaching policies with reinforcement learning remains a…

Existing image-based rendering methods usually adopt depth-based image warping operation to synthesize novel views. In this paper, we reason the essential limitations of the traditional warping operation to be the limited neighborhood and…

Large language and vision models have been leading a revolution in visual computing. By greatly scaling up sizes of data and model parameters, the large models learn deep priors which lead to remarkable performance in various tasks. In this…

Vision-Language Navigation in Continuous Environments (VLNCE), where an agent follows instructions and moves freely to reach a destination, is a key research problem in embodied AI. However, most existing approaches are sensitive to…

Generalized Zero-Shot Learning (GZSL) has emerged as a pivotal research domain in computer vision, owing to its capability to recognize objects that have not been seen during training. Despite the significant progress achieved by generative…

The standard approach to tackling computer vision problems is to train deep convolutional neural network (CNN) models using large-scale image datasets which are representative of the target task. However, in many scenarios, it is often…

Prior approaches injecting camera control into diffusion models have focused on specific subsets of 4D consistency tasks: novel view synthesis, text-to-video with camera control, image-to-video, amongst others. Therefore, these fragmented…

Despite recent advancements in neural 3D reconstruction, the dependence on dense multi-view captures restricts their broader applicability. In this work, we propose \textbf{ViewCrafter}, a novel method for synthesizing high-fidelity novel…

We propose a zero-shot approach to image harmonization, aiming to overcome the reliance on large amounts of synthetic composite images in existing methods. These methods, while showing promising results, involve significant training…

Comprehensive testing of autonomous systems through simulation is essential to ensure the safety of autonomous driving vehicles. This requires the generation of safety-critical scenarios that extend beyond the limitations of real-world data…

Visual representations play a crucial role in developing generalist robotic policies. Previous vision encoders, typically pre-trained with single-image reconstruction or two-image contrastive learning, tend to capture static information,…