相关论文: RaggeDi: Diffusion-based State Estimation of Disor…

The performance of leaning-based perception algorithms suffer when deployed in out-of-distribution and underrepresented environments. Outdoor robots are particularly susceptible to rapid changes in visual scene appearance due to dynamic…

Diffusion models, a powerful and universal generative AI technology, have achieved tremendous success in computer vision, audio, reinforcement learning, and computational biology. In these applications, diffusion models provide flexible…

It is of great concern to produce numerically efficient methods for moisture diffusion through porous media, capable of accurately calculate moisture distribution with a reduced computational effort. In this way, model reduction methods are…

Image-to-image translation aims to learn a mapping between a source and a target domain, enabling tasks such as style transfer, appearance transformation, and domain adaptation. In this work, we explore a diffusion-based framework for…

Recent advances in large models have significantly advanced image-to-3D reconstruction. However, the generated models are often fused into a single piece, limiting their applicability in downstream tasks. This paper focuses on 3D garment…

Guided diffusion is a technique for conditioning the output of a diffusion model at sampling time without retraining the network for each specific task. One drawback of diffusion models, however, is their slow sampling process. Recent…

Distributed diffusion is a powerful algorithm for multi-task state estimation which enables networked agents to interact with neighbors to process input data and diffuse information across the network. Compared to a centralized approach,…

Diffusion models are now the undisputed state-of-the-art for image generation and image restoration. However, they require large amounts of computational power for training and inference. In this paper, we propose lightweight diffusion…

Object pose estimation is crucial to robotic perception and typically provides a single-pose estimate. However, a single estimate cannot capture pose uncertainty deriving from visual ambiguity, which can lead to unreliable behavior.…

The ability to manipulate objects in a desired configurations is a fundamental requirement for robots to complete various practical applications. While certain goals can be achieved by picking and placing the objects of interest directly,…

Diffusion models are powerful, but they require a lot of time and data to train. We propose Patch Diffusion, a generic patch-wise training framework, to significantly reduce the training time costs while improving data efficiency, which…

Inverse problems have many applications in science and engineering. In Computer vision, several image restoration tasks such as inpainting, deblurring, and super-resolution can be formally modeled as inverse problems. Recently, methods have…

Modeling generalized robot control policies poses ongoing challenges for language-guided robot manipulation tasks. Existing methods often struggle to efficiently utilize cross-dataset resources or rely on resource-intensive vision-language…

Diffusion models have demonstrated remarkable performance in generation tasks. Nevertheless, explaining the diffusion process remains challenging due to it being a sequence of denoising noisy images that are difficult for experts to…

Popularized by their strong image generation performance, diffusion and related methods for generative modeling have found widespread success in visual media applications. In particular, diffusion methods have enabled new approaches to data…

Scene flow estimation is an essential ingredient for a variety of real-world applications, especially for autonomous agents, such as self-driving cars and robots. While recent scene flow estimation approaches achieve a reasonable accuracy,…

Language-driven grasp detection is a fundamental yet challenging task in robotics with various industrial applications. In this work, we present a new approach for language-driven grasp detection that leverages the concept of lightweight…

Autonomous systems rely on sensors to estimate the environment around them. However, cameras, LiDARs, and RADARs have their own limitations. In nighttime or degraded environments such as fog, mist, or dust, thermal cameras can provide…

Cloth manipulation is a ubiquitous task in everyday life, but it remains an open challenge for robotics. The difficulties in developing cloth manipulation policies are attributed to the high-dimensional state space, complex dynamics, and…

In this paper, we present a method of clothes retargeting; generating the potential poses and deformations of a given 3D clothing template model to fit onto a person in a single RGB image. The problem is fundamentally ill-posed as attaining…