相关论文: $SE(3)$ Equivariant Ray Embeddings for Implicit Mu…

We investigate the problem of learning category-specific 3D shape reconstruction from a variable number of RGB views of previously unobserved object instances. Most approaches for multiview shape reconstruction operate on sparse shape…

We present EmbodiedMAE, a unified 3D multi-modal representation for robot manipulation. Current approaches suffer from significant domain gaps between training datasets and robot manipulation tasks, while also lacking model architectures…

We introduce Perception Encoder (PE), a state-of-the-art vision encoder for image and video understanding trained via simple vision-language learning. Traditionally, vision encoders have relied on a variety of pretraining objectives, each…

Incorporating group symmetries via equivariance into neural networks has emerged as a robust approach for overcoming the efficiency and data demands of modern deep learning. While most existing approaches, such as group convolutions and…

Self-supervised deep learning methods have leveraged stereo images for training monocular depth estimation. Although these methods show strong results on outdoor datasets such as KITTI, they do not match performance of supervised methods on…

In the training of deep learning models, how the model parameters are initialized greatly affects the model performance, sample efficiency, and convergence speed. Representation learning for model initialization has recently been actively…

In this paper, we propose a scene-level inverse rendering framework that uses multi-view images to decompose the scene into geometry, SVBRDF, and 3D spatially-varying lighting. While multi-view images have been widely used for object-level…

We study the task of embodied visual active learning, where an agent is set to explore a 3d environment with the goal to acquire visual scene understanding by actively selecting views for which to request annotation. While accurate on some…

Accurately modeling agent behaviors is an important task in self-driving. It is also a task with many symmetries, such as equivariance to the order of agents and objects in the scene or equivariance to arbitrary roto-translations of the…

One core challenge in object pose estimation is to ensure accurate and robust performance for large numbers of diverse foreground objects amidst complex background clutter. In this work, we present a scalable framework for accurately…

Deep learning has shown to be effective for depth inference in multi-view stereo (MVS). However, the scalability and accuracy still remain an open problem in this domain. This can be attributed to the memory-consuming cost volume…

In many imaging modalities, objects of interest can occur in a variety of locations and poses (i.e. are subject to translations and rotations in 2d or 3d), but the location and pose of an object does not change its semantics (i.e. the…

3D shape completion methods typically assume scans are pre-aligned to a canonical frame. This leaks pose and scale cues that networks may exploit to memorize absolute positions rather than inferring intrinsic geometry. When such alignment…

Numerous studies have recently focused on incorporating different variations of equivariance in Convolutional Neural Networks (CNNs). In particular, rotation-equivariance has gathered significant attention due to its relevance in many…

Image-level weakly supervised semantic segmentation is a challenging problem that has been deeply studied in recent years. Most of advanced solutions exploit class activation map (CAM). However, CAMs can hardly serve as the object mask due…

As the development of deep neural networks, 3D object recognition is becoming increasingly popular in computer vision community. Many multi-view based methods are proposed to improve the category recognition accuracy. These approaches…

Previous multi-view normal integration methods typically sample a single ray per pixel, without considering the spatial area covered by each pixel, which varies with camera intrinsics and the camera-to-object distance. Consequently, when…

Recent advances in 3D deep learning have shown that it is possible to train highly effective deep models for 3D shape generation, directly from 2D images. This is particularly interesting since the availability of 3D models is still limited…

This paper presents a differential geometric control approach that leverages SE(3) group invariance and equivariance to increase transferability in learning robot manipulation tasks that involve interaction with the environment.…

Modeling global geometric context while maintaining equivariance is crucial for accurate predictions in many fields such as biology, chemistry, or vision. Yet, this is challenging due to the computational demands of processing…