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

Shape is an important physical property of natural and manmade 3D objects that characterizes their external appearances. Understanding differences between shapes and modeling the variability within and across shape classes, hereinafter…

Material classification has emerged as a critical task in computer vision and graphics, supporting the assignment of accurate material properties to a wide range of digital and real-world applications. While traditionally framed as an image…

Generative models that produce point clouds have emerged as a powerful tool to represent 3D surfaces, and the best current ones rely on learning an ensemble of parametric representations. Unfortunately, they offer no control over the…

Learning object manipulation is a critical skill for robots to interact with their environment. Even though there has been significant progress in robotic manipulation of rigid objects, interacting with non-rigid objects remains challenging…

We introduce a framework for reasoning about what meaning is captured by the neurons in a trained neural network. We provide a strategy for discovering meaning by training a second model (referred to as an observer model) to classify the…

Modelling the physical properties of everyday objects is a fundamental prerequisite for autonomous robots. We present a novel generative adversarial network (Defo-Net), able to predict body deformations under external forces from a single…

This paper addresses the challenge of geometric quality assurance in manufacturing, particularly when human assessment is required. It proposes using Blender, an open-source simulation tool, to create synthetic datasets for machine learning…

Many approximations were suggested to circumvent the cubic complexity of kernel-based algorithms, allowing their application to large-scale datasets. One strategy is to consider the primal formulation of the learning problem by mapping the…

This paper proposes a new method for manipulating unknown objects through a sequence of non-prehensile actions that displace an object from its initial configuration to a given goal configuration on a flat surface. The proposed method…

Weakly supervised object localization (WSOL) aims to localize objects by only utilizing image-level labels. Class activation maps (CAMs) are the commonly used features to achieve WSOL. However, previous CAM-based methods did not take full…

Benchmarking of robotic manipulations is one of the open issues in robotic research. An important factor that has enabled progress in this area in the last decade is the existence of common object sets that have been shared among different…

What is the right object representation for manipulation? We would like robots to visually perceive scenes and learn an understanding of the objects in them that (i) is task-agnostic and can be used as a building block for a variety of…

Perceiving the shape and material of an object from a single image is inherently ambiguous, especially when lighting is unknown and unconstrained. Despite this, humans can often disentangle shape and material, and when they are uncertain,…

Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…

This paper proposes a reconfigurable model to recognize and detect multiclass (or multiview) objects with large variation in appearance. Compared with well acknowledged hierarchical models, we study two advanced capabilities in hierarchy…

Foundation models learn highly transferable representations through large-scale pretraining on diverse data. An increasing body of research indicates that these representations exhibit a remarkable degree of similarity across architectures…

We introduce a method for manipulating objects in three-dimensional space using controlled fluid streams. To achieve this, we train a neural network controller in a differentiable simulation and evaluate it in a simulated environment…

Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…

Hierarchies allow feature sharing between objects at multiple levels of representation, can code exponential variability in a very compact way and enable fast inference. This makes them potentially suitable for learning and recognizing a…

Partial label learning (PLL) seeks to train generalizable classifiers from datasets with inexact supervision, a common challenge in real-world applications. Existing studies have developed numerous approaches to progressively refine and…