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

In this paper, we propose a novel coarse-to-fine continuous pose diffusion method to enhance the precision of pick-and-place operations within robotic manipulation tasks. Leveraging the capabilities of diffusion networks, we facilitate the…

Generative models have recently undergone significant advancement due to the diffusion models. The success of these models can be often attributed to their use of guidance techniques, such as classifier or classifier-free guidance, which…

Recent advancements in image synthesis are fueled by the advent of large-scale diffusion models. Yet, integrating realistic object visualizations seamlessly into new or existing backgrounds without extensive training remains a challenge.…

Diffusion models have enabled high-quality, conditional image editing capabilities. We propose to expand their arsenal, and demonstrate that off-the-shelf diffusion models can be used for a wide range of cross-domain compositing tasks.…

Image classification is a well-studied task in computer vision, and yet it remains challenging under high-uncertainty conditions, such as when input images are corrupted or training data are limited. Conventional classification approaches…

In this paper, we address the Sim2Real gap in the field of vision-based tactile sensors for classifying object surfaces. We train a Diffusion Model to bridge this gap using a relatively small dataset of real-world images randomly collected…

Object recognition, commonly performed by a camera, is a fundamental requirement for robots to complete complex tasks. Some tasks require recognizing objects far from the robot's camera. A challenging example is Ultra-Range Gesture…

Accurate camera calibration is a fundamental task for 3D perception, especially when dealing with real-world, in-the-wild environments where complex optical distortions are common. Existing methods often rely on pre-rectified images or…

The rapid progress of Deepfake technology has made face swapping highly realistic, raising concerns about the malicious use of fabricated facial content. Existing methods often struggle to generalize to unseen domains due to the diverse…

Animal pose estimation is a fundamental task in computer vision, with growing importance in ecological monitoring, behavioral analysis, and intelligent livestock management. Compared to human pose estimation, animal pose estimation is more…

Good 3D object detection performance from LiDAR-Camera sensors demands seamless feature alignment and fusion strategies. We propose the 3DifFusionDet framework in this paper, which structures 3D object detection as a denoising diffusion…

We propose a method to learn explicit, class-conditioned spatial priors for object placement in natural scenes by distilling the implicit placement knowledge encoded in text-conditioned diffusion models. Prior work relies either on manually…

Diffusion-based policies have shown impressive performance in robotic manipulation tasks while struggling with out-of-domain distributions. Recent efforts attempted to enhance generalization by improving the visual feature encoding for…

Conventional class-guided diffusion models generally succeed in generating images with correct semantic content, but often struggle with texture details. This limitation stems from the usage of class priors, which only provide coarse and…

Learning from demonstrations faces challenges in generalizing beyond the training data and often lacks collision awareness. This paper introduces Lan-o3dp, a language-guided object-centric diffusion policy framework that can adapt to unseen…

Diffusion models have shown remarkable progress in various generative tasks such as image and video generation. This paper studies the problem of leveraging pretrained diffusion models for performing discriminative tasks. Specifically, we…

This work proposes a novel pose estimation model for object categories that can be effectively transferred to previously unseen environments. The deep convolutional network models (CNN) for pose estimation are typically trained and…

Diffusion models have emerged as powerful tools for a wide range of vision tasks, including text-guided image generation and editing. In this work, we explore their potential for object grounding in remote sensing imagery. We propose a…

Multi-modal 3D object detection is important for reliable perception in robotics and autonomous driving. However, its effectiveness remains limited under adverse weather conditions due to weather-induced distortions and misalignment between…

Category-level 3D pose estimation is a fundamentally important problem in computer vision and robotics, e.g. for embodied agents or to train 3D generative models. However, so far methods that estimate the category-level object pose require…