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

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Large multimodal models exhibit remarkable intelligence, yet their embodied cognitive abilities during motion in open-ended urban 3D space remain to be explored. We introduce a benchmark to evaluate whether video-large language models…

Humans perceive and understand real-world spaces through a stream of visual observations. Therefore, the ability to streamingly maintain and update spatial evidence from potentially unbounded video streams is essential for spatial…

We study the task of embodied visual active learning, where an agent is set to explore a 3d environment with the goal to acquire visual scene understanding by actively selecting views for which to request annotation. While accurate on some…

A video autoencoder is proposed for learning disentan- gled representations of 3D structure and camera pose from videos in a self-supervised manner. Relying on temporal continuity in videos, our work assumes that the 3D scene structure in…

Autonomous vehicles increasingly rely on cameras to provide the input for perception and scene understanding and the ability of these models to classify their environment and objects, under adverse conditions and image noise is crucial.…

Temporal modeling and spatio-temporal collaboration are pivotal techniques for video-based human pose estimation. Most state-of-the-art methods adopt optical flow or temporal difference, learning local visual content correspondence across…

Laparoscopic surgery constrains surgeons spatial awareness because procedures are performed through a monocular, two-dimensional (2D) endoscopic view. Conventional training methods using dry-lab models or recorded videos provide limited…

Scene transfer for vision-based mobile robotics applications is a highly relevant and challenging problem. The utility of a robot greatly depends on its ability to perform a task in the real world, outside of a well-controlled lab…

Perceiving a three-dimensional (3D) scene with multiple objects while moving indoors is essential for vision-based mobile cobots, especially for enhancing their manipulation tasks. In this work, we present an end-to-end pipeline with…

For robots to robustly understand and interact with the physical world, it is highly beneficial to have a comprehensive representation - modelling geometry, physics, and visual observations - that informs perception, planning, and control…

Recently, end-to-end robotic manipulation models have gained significant attention for their generalizability and scalability. However, they often suffer from limited robustness to camera viewpoint changes when training with a fixed camera.…

Modeling and rendering of dynamic scenes is challenging, as natural scenes often contain complex phenomena such as thin structures, evolving topology, translucency, scattering, occlusion, and biological motion. Mesh-based reconstruction and…

Machine learning approaches to spatiotemporal physical systems have primarily focused on next-frame prediction, with the goal of learning an accurate emulator for the system's evolution in time. However, these emulators are computationally…

Compression has been an important research topic for many decades, to produce a significant impact on data transmission and storage. Recent advances have shown a great potential of learning image and video compression. Inspired from related…

Embodied world models aim to predict and interact with the physical world through visual observations and actions. However, existing models struggle to accurately translate low-level actions (e.g., joint positions) into precise robotic…

Radar sensors provide reliable perception across adverse weather, lighting, and long-range conditions, yet existing machine learning approaches remain fragmented and task-specific, with each downstream task employing distinct architectures…

Visual perception tasks often require vast amounts of labelled data, including 3D poses and image space segmentation masks. The process of creating such training data sets can prove difficult or time-intensive to scale up to efficacy for…

Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…

In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads,…