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Cross-embodiment dexterous grasping aims to generate stable and diverse grasps for robotic hands with heterogeneous kinematic structures. Existing methods are often tailored to specific hand designs and fail to generalize to unseen hand…
DragDiffusion is a diffusion-based method for interactive point-based image editing that enables users to manipulate images by directly dragging selected points. The method claims that accurate spatial control can be achieved by optimizing…
Dexterous grasp generation is a fundamental challenge in robotics, requiring both grasp stability and adaptability across diverse objects and tasks. Analytical methods ensure stable grasps but are inefficient and lack task adaptability,…
Diffusion-based image generators can now produce high-quality and diverse samples, but their success has yet to fully translate to 3D generation: existing diffusion methods can either generate low-resolution but 3D consistent outputs, or…
The imitation of cursive handwriting is mainly limited to generating handwritten words or lines. Multiple synthetic outputs must be stitched together to create paragraphs or whole pages, whereby consistency and layout information are lost.…
Recent progress in multimodal generation has increasingly combined autoregressive (AR) and diffusion-based approaches, leveraging their complementary strengths: AR models capture long-range dependencies and produce fluent, context-aware…
Decision-making in robotics using denoising diffusion processes has increasingly become a hot research topic, but end-to-end policies perform poorly in tasks with rich contact and have limited controllability. This paper proposes…
We present SinDiffusion, leveraging denoising diffusion models to capture internal distribution of patches from a single natural image. SinDiffusion significantly improves the quality and diversity of generated samples compared with…
Diffusion models, known for their powerful generative capabilities, play a crucial role in addressing real-world super-resolution challenges. However, these models often focus on improving local textures while neglecting the impacts of…
Acquiring spatio-temporal states of an action is the most crucial step for action classification. In this paper, we propose a data level fusion strategy, Motion Fused Frames (MFFs), designed to fuse motion information into static images as…
In the modern context, hand gesture recognition has emerged as a focal point. This is due to its wide range of applications, which include comprehending sign language, factories, hands-free devices, and guiding robots. Many researchers have…
Despite the ability of existing large-scale text-to-image (T2I) models to generate high-quality images from detailed textual descriptions, they often lack the ability to precisely edit the generated or real images. In this paper, we propose…
Speech-driven gesture synthesis is a field of growing interest in virtual human creation. However, a critical challenge is the inherent intricate one-to-many mapping between speech and gestures. Previous studies have explored and achieved…
We introduce a framework for joint grounded scene graph - image generation, a challenging task involving high-dimensional, multi-modal structured data. To effectively model this complex joint distribution, we adopt a factorized approach:…
Due to the domain gap between real-world and synthetic hazy images, current data-driven dehazing algorithms trained on synthetic datasets perform well on synthetic data but struggle to generalize to real-world scenarios. To address this…
Grasping is a fundamental skill in robotics with diverse applications across medical, industrial, and domestic domains. However, current approaches for predicting valid grasps are often tailored to specific grippers, limiting their…
Recent generative methods for single-shot high dynamic range (HDR) image reconstruction show promising results, but often struggle with preserving fidelity to the input image. They require separate models to handle highlights and shadows,…
Despite the recent strides in video generation, state-of-the-art methods still struggle with elements of visual detail. One particularly challenging case is the class of videos in which the intricate motion of the hand coupled with a mostly…
Diffusion models have emerged as the leading approach for image synthesis, demonstrating exceptional photorealism and diversity. However, training diffusion models at high resolutions remains computationally prohibitive, and existing…
Task-oriented grasping (TOG) is essential for robots to perform manipulation tasks, requiring grasps that are both stable and compliant with task-specific constraints. Humans naturally grasp objects in a task-oriented manner to facilitate…