相关论文: Spatially Visual Perception for End-to-End Robotic…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

Spatial visual perception is a fundamental requirement in physical-world applications like autonomous driving and robotic manipulation, driven by the need to interact with 3D environments. Capturing pixel-aligned metric depth using RGB-D…

A key challenge in robot manipulation lies in developing policy models with strong spatial understanding, the ability to reason about 3D geometry, object relations, and robot embodiment. Existing methods often fall short: 3D point cloud…

Robust trajectory planning under camera viewpoint changes is important for scalable end-to-end autonomous driving. However, existing models often depend heavily on the camera viewpoints seen during training. We investigate an…

Augmentation-based self-supervised learning methods have shown remarkable success in self-supervised visual representation learning, excelling in learning invariant features but often neglecting equivariant ones. This limitation reduces the…

Robust 3D representation learning forms the perceptual foundation of spatial intelligence, enabling downstream tasks in scene understanding and embodied AI. However, learning such representations directly from unposed multi-view images…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…

To operate intelligently in domestic environments, robots require the ability to understand arbitrary spatial relations between objects and to generalize them to objects of varying sizes and shapes. In this work, we present a novel…

Robust visual localization under a wide range of viewing conditions is a fundamental problem in computer vision. Handling the difficult cases of this problem is not only very challenging but also of high practical relevance, e.g., in the…

Learning to predict scene depth from RGB inputs is a challenging task both for indoor and outdoor robot navigation. In this work we address unsupervised learning of scene depth and robot ego-motion where supervision is provided by monocular…

While deep learning surpasses human-level performance in narrow and specific vision tasks, it is fragile and over-confident in classification. For example, minor transformations in perspective, illumination, or object deformation in the…

In embodied intelligence systems, a key component is 3D perception algorithm, which enables agents to understand their surrounding environments. Previous algorithms primarily rely on point cloud, which, despite offering precise geometric…

Incorporating spatial information, particularly those influenced by climate, weather, and demographic factors, is crucial for improving underwriting precision and enhancing risk management in insurance. However, spatial data are often…

Vision-Language-Action (VLA) models show promise for robotic control, yet performance in complex household environments remains sub-optimal. Mobile manipulation requires reasoning about global scene layout, fine-grained geometry, and…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

Recent progress in legged locomotion has allowed highly dynamic and parkour-like behaviors for robots, similar to their biological counterparts. Yet, these methods mostly rely on egocentric (first-person) perception, limiting their…

In this work, we present an effective multi-view approach to closed-loop end-to-end learning of precise manipulation tasks that are 3D in nature. Our method learns to accomplish these tasks using multiple statically placed but uncalibrated…

Self-supervised learning allows for better utilization of unlabelled data. The feature representation obtained by self-supervision can be used in downstream tasks such as classification, object detection, segmentation, and anomaly…

Inspired by the performance and scalability of autoregressive large language models (LLMs), transformer-based models have seen recent success in the visual domain. This study investigates a transformer adaptation for video prediction with a…

Humans can perceive and reason about spatial relationships from sequential visual observations, such as egocentric video streams. However, how pretrained models acquire such abilities, especially high-level reasoning, remains unclear. This…