相关论文: Precise Pick-and-Place using Score-Based Diffusion…

Object recognition and 6DoF pose estimation are quite challenging tasks in computer vision applications. Despite efficiency in such tasks, standard methods deliver far from real-time processing rates. This paper presents a novel pipeline to…

Tactile sensing provides a promising sensing modality for object pose estimation in manipulation settings where visual information is limited due to occlusion or environmental effects. However, efficiently leveraging tactile data for…

We propose Co-op, a novel method for accurately and robustly estimating the 6DoF pose of objects unseen during training from a single RGB image. Our method requires only the CAD model of the target object and can precisely estimate its pose…

Traditionally, monocular 3D human pose estimation employs a machine learning model to predict the most likely 3D pose for a given input image. However, a single image can be highly ambiguous and induces multiple plausible solutions for the…

Generative AI models, such as score-based diffusion models, have recently advanced the field of computational materials science by enabling the generation of new materials with desired properties. In addition, these models could also be…

In this paper, we introduce a novel single shot approach for 6D object pose estimation of rigid objects based on depth images. For this purpose, a fully convolutional neural network is employed, where the 3D input data is spatially…

Beam alignment is a key challenge in directional mmWave and THz systems, where narrow beams require accurate yet low-overhead training. Existing learning-based approaches typically predict a single beam and do not quantify uncertainty,…

Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, bypassing the traditional localization-mapping-planning…

Estimating the 6D pose of novel objects is a fundamental yet challenging problem in robotics, often relying on access to object CAD models. However, acquiring such models can be costly and impractical. Recent approaches aim to bypass this…

Recent advancements in diffusion models (DMs) have been propelled by alignment methods that post-train models to better conform to human preferences. However, these approaches typically require computation-intensive training of a base model…

Generated images of score-based models can suffer from errors in their spatial means, an effect, referred to as a color shift, which grows for larger images. This paper investigates a previously-introduced approach to mitigate color shifts…

Text-to-3D generation has shown rapid progress in recent days with the advent of score distillation, a methodology of using pretrained text-to-2D diffusion models to optimize neural radiance field (NeRF) in the zero-shot setting. However,…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

In this work, we explore how a strategic selection of camera movements can facilitate the task of 6D multi-object pose estimation in cluttered scenarios while respecting real-world constraints important in robotics and augmented reality…

Ptychography is a data-intensive computational imaging technique that achieves high spatial resolution over large fields of view. The technique involves scanning a coherent beam across overlapping regions and recording diffraction patterns.…

Text-to-image diffusion models deliver high-quality images, yet aligning them with human preferences remains challenging. We revisit diffusion-based Direct Preference Optimization (DPO) for these models and identify a critical pathology:…

This paper addresses the challenge of 3D human pose estimation from a single color image. Despite the general success of the end-to-end learning paradigm, top performing approaches employ a two-step solution consisting of a Convolutional…

Estimating the 6D pose of textureless objects from RGB images is an important problem in robotics. Due to appearance ambiguities, rotational symmetries, and severe occlusions, single-view based 6D pose estimators are still unable to handle…

Diffusion models have emerged as powerful tools for a wide range of vision tasks, including text-guided image generation and editing. In this work, we explore their potential for object grounding in remote sensing imagery. We propose a…

Typical template-based object pose pipelines estimate the pose by retrieving the closest matching template and aligning it with the observed image. However, failure to retrieve the correct template often leads to inaccurate pose…