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

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

We present a novel method for multi-view depth estimation from a single video, which is a critical task in various applications, such as perception, reconstruction and robot navigation. Although previous learning-based methods have…

Video-based gaze estimation methods aim to capture the inherently temporal dynamics of human eye gaze from multiple image frames. However, since models must capture both spatial and temporal relationships, performance is limited by the…

A novel skill learning approach is proposed that allows a robot to acquire human-like visuospatial skills for object manipulation tasks. Visuospatial skills are attained by observing spatial relationships among objects through…

Video generation has achieved remarkable progress with the introduction of diffusion models, which have significantly improved the quality of generated videos. However, recent research has primarily focused on scaling up model training,…

Image spatial editing performs geometry-driven transformations, allowing precise control over object layout and camera viewpoints. Current models are insufficient for fine-grained spatial manipulations, motivating a dedicated assessment…

Self-supervised learning (SSL) has emerged as a powerful technique for learning visual representations. While recent SSL approaches achieve strong results in global image understanding, they are limited in capturing the structured…

Deep learning techniques have achieved specific results in recording device source identification. The recording device source features include spatial information and certain temporal information. However, most recording device source…

Light field imaging extends the traditional photography by capturing both spatial and angular distribution of light, which enables new capabilities, including post-capture refocusing, post-capture aperture control, and depth estimation from…

The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…

Devising intelligent agents able to live in an environment and learn by observing the surroundings is a longstanding goal of Artificial Intelligence. From a bare Machine Learning perspective, challenges arise when the agent is prevented…

Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…

Vision-Language-Action (VLA) models have recently achieved remarkable progress in robotic perception and control, yet most existing approaches primarily rely on VLM trained using 2D images, which limits their spatial understanding and…

This dissertation is a multifaceted contribution to the advancement of vision-based 3D perception technologies. In the first segment, the thesis introduces structural enhancements to both monocular and stereo 3D object detection algorithms.…

Most successful self-supervised learning methods are trained to align the representations of two independent views from the data. State-of-the-art methods in video are inspired by image techniques, where these two views are similarly…

While recent large-scale video-language pre-training made great progress in video question answering, the design of spatial modeling of video-language models is less fine-grained than that of image-language models; existing practices of…

We present a conceptual framework for training Vision-Language Models (VLMs) to perform Visual Perspective Taking (VPT), a core capability for embodied cognition essential for Human-Robot Interaction (HRI). As a first step toward this goal,…

Recently, multi-view diffusion-based 3D generation methods have gained significant attention. However, these methods often suffer from shape and texture misalignment across generated multi-view images, leading to low-quality 3D generation…

Despite the impressive progress brought by deep network in visual object recognition, robot vision is still far from being a solved problem. The most successful convolutional architectures are developed starting from ImageNet, a large scale…

Vision-Language-Action (VLA) models provide a promising paradigm for robot learning by integrating visual perception with language-guided policy learning. However, most existing approaches rely on 2D visual inputs to perform actions in 3D…