相关论文: Toward General Object-level Mapping from Sparse Vi…

Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…

3D object pose estimation is a challenging task. Previous works always require thousands of object images with annotated poses for learning the 3D pose correspondence, which is laborious and time-consuming for labeling. In this paper, we…

Traditional LiDAR-based object detection research primarily focuses on closed-set scenarios, which falls short in complex real-world applications. Directly transferring existing 2D open-vocabulary models with some known LiDAR classes for…

We aim to address sparse-view reconstruction of a 3D scene by leveraging priors from large-scale vision models. While recent advancements such as 3D Gaussian Splatting (3DGS) have demonstrated remarkable successes in 3D reconstruction,…

Recent advances in text-to-3D creation integrate the potent prior of Diffusion Models from text-to-image generation into 3D domain. Nevertheless, generating 3D scenes with multiple objects remains challenging. Therefore, we present…

Camouflaged object detection is a challenging task that aims to identify objects that are highly similar to their background. Due to the powerful noise-to-image denoising capability of denoising diffusion models, in this paper, we propose a…

In this work, we focus on synthesizing high-fidelity novel view images for arbitrary human performers, given a set of sparse multi-view images. It is a challenging task due to the large variation among articulated body poses and heavy…

Diffusion-based policies have shown remarkable capability in executing complex robotic manipulation tasks but lack explicit characterization of geometry and semantics, which often limits their ability to generalize to unseen objects and…

The stochastic formation of defects during Laser Powder Bed Fusion (L-PBF) negatively impacts its adoption for high-precision use cases. Optical monitoring techniques can be used to identify defects based on layer-wise imaging, but these…

In this paper, we address the Sim2Real gap in the field of vision-based tactile sensors for classifying object surfaces. We train a Diffusion Model to bridge this gap using a relatively small dataset of real-world images randomly collected…

Spatiotemporal fusion aims to improve both the spatial and temporal resolution of remote sensing images, thus facilitating time-series analysis at a fine spatial scale. However, there are several important issues that limit the application…

Accurately reconstructing complex full multi-object scenes from sparse observations remains a core challenge in computer vision and a key step toward scalable and reliable simulation for robotics. In this work, we introduce RecGen, a…

Multi-modal 3D object detection has exhibited significant progress in recent years. However, most existing methods can hardly scale to long-range scenarios due to their reliance on dense 3D features, which substantially escalate…

Reference-driven image completion, which restores missing regions in a target view using additional images, is particularly challenging when the target view differs significantly from the references. Existing generative methods rely solely…

Generating accurate sounds for complex audio-visual scenes is challenging, especially in the presence of multiple objects and sound sources. In this paper, we propose an {\em interactive object-aware audio generation} model that grounds…

Diffusion models have demonstrated their capability to synthesize high-quality and diverse images from textual prompts. However, simultaneous control over both global contexts (e.g., object layouts and interactions) and local details (e.g.,…

Can we train a 3D molecule generator using data from dense regions to generate samples in sparse regions? This challenge can be framed as an out-of-distribution (OOD) generation problem. While prior research on OOD generation predominantly…

Depth sensing is an important problem for 3D vision-based robotics. Yet, a real-world active stereo or ToF depth camera often produces noisy and incomplete depth which bottlenecks robot performances. In this work, we propose D3RoMa, a…

Recent advances in robotic manipulation have highlighted the effectiveness of learning from demonstration. However, while end-to-end policies excel in expressivity and flexibility, they struggle both in generalizing to novel object…

This paper presents Omni-View, which extends the unified multimodal understanding and generation to 3D scenes based on multiview images, exploring the principle that "generation facilitates understanding". Consisting of understanding model,…