相关论文: Leveraging Foundation Models To learn the shape of…

As a general model compression paradigm, feature-based knowledge distillation allows the student model to learn expressive features from the teacher counterpart. In this paper, we mainly focus on designing an effective feature-distillation…

Deep networks for image classification often rely more on texture information than object shape. While efforts have been made to make deep-models shape-aware, it is often difficult to make such models simple, interpretable, or rooted in…

This study presents a grasping method for objects with uneven mass distribution by leveraging diffusion models to localize the center of gravity (CoG) on unknown objects. In robotic grasping, CoG deviation often leads to postural…

Transfer learning is fundamental for addressing problems in settings with little training data. While several transfer learning approaches have been proposed in 3D, unfortunately, these solutions typically operate on an entire 3D object or…

Feature foundation models - usually vision transformers - offer rich semantic descriptors of images, useful for downstream tasks such as (interactive) segmentation and object detection. For computational efficiency these descriptors are…

Learning the physical dynamics of deformable objects with particle-based representation has been the objective of many computational models in machine learning. While several state-of-the-art models have achieved this objective in simulated…

In this work, we focus on the task of weakly supervised affordance grounding, where a model is trained to identify affordance regions on objects using human-object interaction images and egocentric object images without dense labels.…

The superior performance of Deformable Convolutional Networks arises from its ability to adapt to the geometric variations of objects. Through an examination of its adaptive behavior, we observe that while the spatial support for its neural…

We present an approach to robustly track the geometry of an object that deforms over time from a set of input point clouds captured from a single viewpoint. The deformations we consider are caused by applying forces to known locations on…

With the rise of deep learning models in the field of computer vision, new possibilities for their application in industrial processes proves to return great benefits. Nevertheless, the actual fit of machine learning for highly standardised…

This thesis investigates how foundation models can be systematically leveraged to enhance robotic capabilities, enabling more effective localization, interaction, and manipulation in unstructured environments. The work is structured around…

This paper addresses the task of modeling Deformable Linear Objects (DLOs), such as ropes and cables, during dynamic motion over long time horizons. This task presents significant challenges due to the complex dynamics of DLOs. To address…

In deformable object manipulation, we often want to interact with specific segments of an object that are only defined in non-deformed models of the object. We thus require a system that can recognize and locate these segments in sensor…

We study the problem of learning graph dynamics of deformable objects that generalizes to unknown physical properties. Our key insight is to leverage a latent representation of elastic physical properties of cloth-like deformable objects…

This paper uses clustering algorithms to introduce a shape framework for deformable objects. Until now, the shape detection of the deformable objects has faced several challenges: 1) unable to form a unified framework for multiple shapes;…

Deep Reinforcement Learning has shown significant progress in extracting useful representations from high-dimensional inputs albeit using hand-crafted auxiliary tasks and pseudo rewards. Automatically learning such representations in an…

Foundation models are a strong trend in deep learning and computer vision. These models serve as a base for applications as they require minor or no further fine-tuning by developers to integrate into their applications. Foundation models…

We present a novel Learning from Demonstration (LfD) method, Deformable Manipulation from Demonstrations (DMfD), to solve deformable manipulation tasks using states or images as inputs, given expert demonstrations. Our method uses…

Humans can robustly learn novel visual concepts even when images undergo various deformations and lose certain information. Mimicking the same behavior and synthesizing deformed instances of new concepts may help visual recognition systems…

Objects within a category are often similar in their shape and usage. When we---as humans---want to grasp something, we transfer our knowledge from past experiences and adapt it to novel objects. In this paper, we propose a new approach for…