相关论文: Diffusion Suction Grasping with Large-Scale Parcel…

In this paper, we present Sim-MEES: a large-scale synthetic dataset that contains 1,550 objects with varying difficulty levels and physics properties, as well as 11 million grasp labels for mobile manipulators to plan grasps using different…

Automated 3D scene generation is pivotal for applications spanning virtual reality, digital content creation, and Embodied AI. While computer graphics prioritizes aesthetic layouts, vision and robotics demand scenes that mirror real-world…

Fine-grained grocery object recognition is an important computer vision problem with broad applications in automatic checkout, in-store robotic navigation, and assistive technologies for the visually impaired. Existing datasets on groceries…

Fine-grained clustering is a practical yet challenging task, whose essence lies in capturing the subtle differences between instances of different classes. Such subtle differences can be easily disrupted by data augmentation or be…

We propose a novel generative approach for 3D human pose estimation. 3D human pose estimation poses several key challenges due to the complex geometry of the human body, self-occluding joints, and the requirement for large-scale real-world…

This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object…

Most state-of-the-art data-driven grasp sampling methods propose stable and collision-free grasps uniformly on the target object. For bin-picking, executing any of those reachable grasps is sufficient. However, for completing specific…

Large-scale datasets are usually required to train deep neural networks, but it increases the computational complexity hindering the practical applications. Recently, dataset distillation for images and texts has been attracting a lot of…

While deep learning techniques have proven successful in image-related tasks, the exponentially increased data storage and computation costs become a significant challenge. Dataset distillation addresses these challenges by synthesizing…

2D irregular packing is a classic combinatorial optimization problem with various applications, such as material utilization and texture atlas generation. This NP-hard problem requires efficient algorithms to optimize space utilization.…

Data imputation and data generation have important applications for many domains, like healthcare and finance, where incomplete or missing data can hinder accurate analysis and decision-making. Diffusion models have emerged as powerful…

Depth ambiguity and joint uncertainty are the two main obstacles in obtaining accurate human pose predictions by 2D-to-3D lifting methods proposed in the literature. In particular, these issues are caused by 2D joint locations that can be…

The rapid progress in deep learning has given rise to hyper-realistic facial forgery methods, leading to concerns related to misinformation and security risks. Existing face forgery datasets have limitations in generating high-quality…

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization…

Generative modeling has recently undergone remarkable advancements, primarily propelled by the transformative implications of Diffusion Probabilistic Models (DPMs). The impressive capability of these models, however, often entails…

Diffusion models, a powerful and universal generative AI technology, have achieved tremendous success in computer vision, audio, reinforcement learning, and computational biology. In these applications, diffusion models provide flexible…

Grasping is natural for humans. However, it involves complex hand configurations and soft tissue deformation that can result in complicated regions of contact between the hand and the object. Understanding and modeling this contact can…

The growing scale of datasets in deep learning has introduced significant computational challenges. Dataset pruning addresses this challenge by constructing a compact but informative coreset from the full dataset with comparable…

Video diffusion models have rapidly become the dominant paradigm for high-fidelity generative video synthesis, but their practical deployment remains constrained by severe inference costs. Compared with image generation, video synthesis…

Object pose estimation from a single view remains a challenging problem. In particular, partial observability, occlusions, and object symmetries eventually result in pose ambiguity. To account for this multimodality, this work proposes…