相关论文: SPLIT: SE(3)-diffusion via Local Geometry-based Sc…

We present iFusion, a novel 3D object reconstruction framework that requires only two views with unknown camera poses. While single-view reconstruction yields visually appealing results, it can deviate significantly from the actual object,…

Pose prediction is to predict future poses given a window of previous poses. In this paper, we propose a new problem that predicts poses using 3D joint coordinate sequences. Different from the traditional pose prediction based on Mocap…

Hand pose estimation from a single image has many applications. However, approaches to full 3D body pose estimation are typically trained on day-to-day activities or actions. As such, detailed hand-to-hand interactions are poorly…

Understanding visual scenes is fundamental to human intelligence. While discriminative models have significantly advanced computer vision, they often struggle with compositional understanding. In contrast, recent generative text-to-image…

6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…

We introduce a novel, training-free system for reconstructing, understanding, and rendering 3D indoor scenes from a sparse set of unposed RGB images. Unlike traditional radiance field approaches that require dense views and per-scene…

The remarkable achievements of both generative models of 2D images and neural field representations for 3D scenes present a compelling opportunity to integrate the strengths of both approaches. In this work, we propose a methodology that…

Shape assembly aims to reassemble parts (or fragments) into a complete object, which is a common task in our daily life. Different from the semantic part assembly (e.g., assembling a chair's semantic parts like legs into a whole chair),…

Significant strides have been made using large vision-language models, like Stable Diffusion (SD), for a variety of downstream tasks, including image editing, image correspondence, and 3D shape generation. Inspired by these advancements, we…

Robotic manipulation in unstructured environments requires the generation of robust and long-horizon trajectory-level policy with conditions of perceptual observations and benefits from the advantages of SE(3)-equivariant diffusion models…

Score-based diffusion models learn to reverse a stochastic differential equation that maps data to noise. However, for complex tasks, numerical error can compound and result in highly unnatural samples. Previous work mitigates this drift…

Precise manipulation that is generalizable across scenes and objects remains a persistent challenge in robotics. Current approaches for this task heavily depend on having a significant number of training instances to handle objects with…

Annotating 3D LiDAR point clouds for perception tasks is fundamental for many applications e.g., autonomous driving, yet it still remains notoriously labor-intensive. Pretraining-finetuning approach can alleviate the labeling burden by…

Diffusion models generate images with an unprecedented level of quality, but how can we freely rearrange image layouts? Recent works generate controllable scenes via learning spatially disentangled latent codes, but these methods do not…

Semantic segmentation and activity classification are key components to creating intelligent surgical systems able to understand and assist clinical workflow. In the Operating Room, semantic segmentation is at the core of creating robots…

3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…

We introduce S2C-3D, a novel sparse-view 3D reconstruction framework for high-fidelity and complete scene reconstruction from as few as six to eight images. Our framework features three components: a specialized diffusion model for…

Scene understanding remains a significant challenge in the computer vision community. The visual psychophysics literature has demonstrated the importance of interdependence among parts of the scene. Yet, the majority of methods in computer…

Real-time holistic scene understanding would allow machines to interpret their surrounding in a much more detailed manner than is currently possible. While panoptic image segmentation methods have brought image segmentation closer to this…

Large pre-trained models have had a significant impact on computer vision by enabling multi-modal learning, where the CLIP model has achieved impressive results in image classification, object detection, and semantic segmentation. However,…