相关论文: Configurable Embodied Data Generation for Class-Ag…

Semantic segmentation of medical images is pivotal in applications like disease diagnosis and treatment planning. While deep learning has excelled in automating this task, a major hurdle is the need for numerous annotated segmentation…

There is an urgent need for an effective video classification method by means of a small number of samples. The deficiency of samples could be effectively alleviated by generating samples through Generative Adversarial Networks (GAN), but…

Multi-view Detection (MVD) is highly effective for occlusion reasoning in a crowded environment. While recent works using deep learning have made significant advances in the field, they have overlooked the generalization aspect, which makes…

Unsupervised video object segmentation aims to segment a target object in the video without a ground truth mask in the initial frame. This challenging task requires extracting features for the most salient common objects within a video…

Semantic segmentation of drone images is critical for various aerial vision tasks as it provides essential semantic details to understand scenes on the ground. Ensuring high accuracy of semantic segmentation models for drones requires…

Semantic segmentation of 3D meshes is an important problem for 3D scene understanding. In this paper we revisit the classic multiview representation of 3D meshes and study several techniques that make them effective for 3D semantic…

We propose a systematic learning-based approach to the generation of massive quantities of synthetic 3D scenes and arbitrary numbers of photorealistic 2D images thereof, with associated ground truth information, for the purposes of…

Computational Fluid Dynamics (CFD) is widely used in different engineering fields, but accurate simulations are dependent upon proper meshing of the simulation domain. While highly refined meshes may ensure precision, they come with high…

Using the raw data from consumer-level RGB-D cameras as input, we propose a deep-learning based approach to efficiently generate RGB-D images with completed information in high resolution. To process the input images in low resolution with…

Recently, large-scale pre-trained models such as Segment-Anything Model (SAM) and Contrastive Language-Image Pre-training (CLIP) have demonstrated remarkable success and revolutionized the field of computer vision. These foundation vision…

Deep convolutional neural networks (CNNs) have been immensely successful in many high-level computer vision tasks given large labeled datasets. However, for video semantic object segmentation, a domain where labels are scarce, effectively…

Instance segmentation is a fundamental skill for many robotic applications. We propose a self-supervised method that uses grasp interactions to collect segmentation supervision for an instance segmentation model. When a robot grasps an…

In this paper we study the problem of object detection for RGB-D images using semantically rich image and depth features. We propose a new geocentric embedding for depth images that encodes height above ground and angle with gravity for…

Robots operating in unstructured environments require a comprehensive understanding of their surroundings, necessitating geometric and semantic information from sensor data. Traditional RGB-D processing pipelines focus primarily on…

Recent machine learning strategies for segmentation tasks have shown great ability when trained on large pixel-wise annotated image datasets. It remains a major challenge however to aggregate such datasets, as the time and monetary cost…

Finding compact representation of videos is an essential component in almost every problem related to video processing or understanding. In this paper, we propose a generative model to learn compact latent codes that can efficiently…

World models have become indispensable tools for embodied intelligence, serving as powerful simulators capable of generating realistic robotic videos while addressing critical data scarcity challenges. However, current embodied world models…

We propose a novel solution for the task of video panoptic segmentation, that simultaneously predicts pixel-level semantic and instance segmentation and generates clip-level instance tracks. Our network, named VPS-Transformer, with a hybrid…

We present a conceptual framework for training Vision-Language Models (VLMs) to perform Visual Perspective Taking (VPT), a core capability for embodied cognition essential for Human-Robot Interaction (HRI). As a first step toward this goal,…

While promptable segmentation (\textit{e.g.}, SAM) has shown promise for various segmentation tasks, it still requires manual visual prompts for each object to be segmented. In contrast, task-generic promptable segmentation aims to reduce…