相关论文: Depth-PC: A Visual Servo Framework Integrated with…

Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…

Foundation models like ChatGPT and Sora that are trained on a huge scale of data have made a revolutionary social impact. However, it is extremely challenging for sensors in many different fields to collect similar scales of natural images…

Over the past few years, deep learning techniques have achieved tremendous success in many visual understanding tasks such as object detection, image segmentation, and caption generation. Despite this thriving in computer vision and natural…

In this work, we present Multiformer, a novel approach to depth-aware video panoptic segmentation (DVPS) based on the mask transformer paradigm. Our method learns object representations that are shared across segmentation, monocular depth…

In this paper, we present a neat yet effective transformer-based framework for visual grounding, namely TransVG, to address the task of grounding a language query to the corresponding region onto an image. The state-of-the-art methods,…

In the context of deep learning for robotics, we show effective method of training a real robot to grasp a tiny sphere (1.37cm of diameter), with an original combination of system design choices. We decompose the end-to-end system into a…

Scaling data volume and diversity is critical for generalizing embodied intelligence. While synthetic data generation offers a scalable alternative to expensive physical data acquisition, transferring robotic manipulation policies from…

Transferring learning-based models to the real world remains one of the hardest problems in model-free control theory. Due to the cost of data collection on a real robot and the limited sample efficiency of Deep Reinforcement Learning…

Reinforcement Learning (RL), among other learning-based methods, represents powerful tools to solve complex robotic tasks (e.g., actuation, manipulation, navigation, etc.), with the need for real-world data to train these systems as one of…

Real-time visual feedback is essential for tetherless control of remotely operated vehicles, particularly during inspection and manipulation tasks. Though acoustic communication is the preferred choice for medium-range communication…

One of the central challenges preventing robots from acquiring complex manipulation skills is the prohibitive cost of collecting large-scale robot demonstrations. In contrast, humans are able to learn efficiently by watching others interact…

In this paper, we present a framework to control a self-driving car by fusing raw information from RGB images and depth maps. A deep neural network architecture is used for mapping the vision and depth information, respectively, to steering…

Depth information which specifies the distance between objects and current position of the robot is essential for many robot tasks such as navigation. Recently, researchers have proposed depth completion frameworks to provide dense depth…

We introduce the novel Diffusion Visual Programmer (DVP), a neuro-symbolic image translation framework. Our proposed DVP seamlessly embeds a condition-flexible diffusion model within the GPT architecture, orchestrating a coherent sequence…

Depth-guided multimodal fusion combines depth information from visible and infrared images, significantly enhancing the performance of 3D reconstruction and robotics applications. Existing thermal-visible image fusion mainly focuses on…

Deep learning approaches have become the standard solution to many problems in computer vision and robotics, but obtaining sufficient training data in high enough quality is challenging, as human labor is error prone, time consuming, and…

Complex degradations like noise, blur, and low resolution are typical challenges in real world image fusion tasks, limiting the performance and practicality of existing methods. End to end neural network based approaches are generally…

In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…

Traditional visual object tracking (VOT) methods typically rely on task-specific supervised training, limiting their generalization to unseen objects and challenging scenarios with distractors, occlusion, and nonlinear motion. Recent vision…

Learning robotic manipulation policies directly in the real world can be expensive and time-consuming. While reinforcement learning (RL) policies trained in simulation present a scalable alternative, effective sim-to-real transfer remains…