相关论文: Diff9D: Diffusion-Based Domain-Generalized Categor…

Object manipulation requires accurate object pose estimation. In open environments, robots encounter unknown objects, which requires semantic understanding in order to generalize both to known categories and beyond. To resolve this…

We present 3DiffTection, a state-of-the-art method for 3D object detection from single images, leveraging features from a 3D-aware diffusion model. Annotating large-scale image data for 3D detection is resource-intensive and time-consuming.…

Denoising diffusion probabilistic models that were initially proposed for realistic image generation have recently shown success in various perception tasks (e.g., object detection and image segmentation) and are increasingly gaining…

A core capability for robot manipulation is reasoning over where and how to stably place objects in cluttered environments. Traditionally, robots have relied on object-specific, hand-crafted heuristics in order to perform such reasoning,…

Diffusion-based policies have shown remarkable capability in executing complex robotic manipulation tasks but lack explicit characterization of geometry and semantics, which often limits their ability to generalize to unseen objects and…

Recent advances in robotic manipulation have highlighted the effectiveness of learning from demonstration. However, while end-to-end policies excel in expressivity and flexibility, they struggle both in generalizing to novel object…

Existing unsupervised low-light image enhancement methods lack enough effectiveness and generalization in practical applications. We suppose this is because of the absence of explicit supervision and the inherent gap between real-world…

Diffusion models, as a class of deep generative models, have recently emerged as powerful tools for robot skills by enabling stable training with reliable convergence. In this paper, we present an end-to-end framework for generating long,…

This paper studies the task of any objects grasping from the known categories by free-form language instructions. This task demands the technique in computer vision, natural language processing, and robotics. We bring these disciplines…

Semi-supervised object detection is crucial for 3D scene understanding, efficiently addressing the limitation of acquiring large-scale 3D bounding box annotations. Existing methods typically employ a teacher-student framework with…

3D human pose estimation from 2D images is a challenging problem due to depth ambiguity and occlusion. Because of these challenges the task is underdetermined, where there exists multiple -- possibly infinite -- poses that are plausible…

Zero-shot object pose estimation enables the retrieval of object poses from images without necessitating object-specific training. In recent approaches this is facilitated by vision foundation models (VFM), which are pre-trained models that…

3D object detection is an essential task for achieving autonomous driving. Existing anchor-based detection methods rely on empirical heuristics setting of anchors, which makes the algorithms lack elegance. In recent years, we have witnessed…

Moving object detection (MOD) in remote sensing is significantly challenged by low resolution, extremely small object sizes, and complex noise interference. Current deep learning-based MOD methods rely on probability density estimation,…

Diffusion models have marked a significant milestone in the enhancement of image and video generation technologies. However, generating videos that precisely retain the shape and location of moving objects such as robots remains a…

Diffusion models have recently gained prominence as powerful deep generative models, demonstrating unmatched performance across various domains. However, their potential in multi-sensor fusion remains largely unexplored. In this work, we…

3D object pose estimation is a challenging task. Previous works always require thousands of object images with annotated poses for learning the 3D pose correspondence, which is laborious and time-consuming for labeling. In this paper, we…

In recent years, 3D vision has become a crucial field within computer vision, powering a wide range of applications such as autonomous driving, robotics, augmented reality, and medical imaging. This field relies on accurate perception,…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…

Establishing reliable correspondences is crucial for all registration tasks, including 2D image registration, 3D point cloud registration, and 2D-3D image-to-point cloud registration. However, these tasks are often complicated by challenges…