相关论文: SCFlow2: Plug-and-Play Object Pose Refiner with Sh…

Flow matching models have emerged as a powerful framework for realistic image generation by learning to reverse a corruption process that progressively adds Gaussian noise. However, because noise is injected in the latent domain, its impact…

Precise object placement remains underexplored in aerial manipulation, where most systems rely on predefined target coordinates and focus primarily on grasping and control. Specifying exact placement poses, however, is cumbersome in…

Advancements in deep learning have significantly improved model performance across tasks involving code, text, and image processing. However, these models still exhibit notable mispredictions in real-world applications, even when trained on…

Shape-from-Focus (SFF) is a passive depth estimation technique that infers scene depth by analyzing focus variations in a focal stack. Most recent deep learning-based SFF methods typically operate in two stages: first, they extract focus…

Existing work on scene flow estimation focuses on autonomous driving and mobile robotics, while automated solutions are lacking for motion in nature, such as that exhibited by debris flows. We propose DEFLOW, a model for 3D motion…

3D scene flow estimation from point clouds is a low-level 3D motion perception task in computer vision. Flow embedding is a commonly used technique in scene flow estimation, and it encodes the point motion between two consecutive frames.…

Estimating the 6D pose of unseen objects from monocular RGB images remains a challenging problem, especially due to the lack of prior object-specific knowledge. To tackle this issue, we propose RefPose, an innovative approach to object pose…

We focus on the problem of semantic segmentation based on RGB-D data, with emphasis on analyzing cluttered indoor scenes containing many instances from many visual categories. Our approach is based on a parametric figure-ground intensity…

In this paper, we focus on designing effective method for fast and accurate scene parsing. A common practice to improve the performance is to attain high resolution feature maps with strong semantic representation. Two strategies are widely…

Recent progress in flow-based generative models and reinforcement learning (RL) has improved text-image alignment and visual quality. However, current RL training for flow models still has two main problems: (i) GRPO-style fixed per-prompt…

Dense and versatile image representations underpin the success of virtually all computer vision applications. However, state-of-the-art networks, such as transformers, produce low-resolution feature grids, which are suboptimal for dense…

Tracking the position and orientation of objects in space (i.e., in 6-DoF) in real time is a fundamental problem in robotics for environment interaction. It becomes more challenging when objects move at high-speed due to frame rate…

Motion retargeting holds a premise of offering a larger set of motion data for characters and robots with different morphologies. Many prior works have approached this problem via either handcrafted constraints or paired motion datasets,…

We propose a novel data augmentation approach, DistractFlow, for training optical flow estimation models by introducing realistic distractions to the input frames. Based on a mixing ratio, we combine one of the frames in the pair with a…

Reconstructing an accurate 3D object model from a few image observations remains a challenging problem in computer vision. State-of-the-art approaches typically assume accurate camera poses as input, which could be difficult to obtain in…

Generative models have recently demonstrated remarkable success across diverse domains, motivating their adoption as expressive policies in reinforcement learning (RL). While they have shown strong performance in offline RL, particularly…

Optical flow is inherently a 2D search problem, and thus the computational complexity grows quadratically with respect to the search window, making large displacements matching infeasible for high-resolution images. In this paper, we take…

In digital pathology, whole-slide images routinely exceed gigapixel resolution, making computationally intensive generative super-resolution (SR) impractical for routine deployment. We introduce CAFlow, an adaptive-depth single-step…

Generative video modeling has emerged as a compelling tool to zero-shot reason about plausible physical interactions for open-world manipulation. Yet, it remains a challenge to translate such human-led motions into the low-level actions…

Modeling and synthesizing image noise is an important aspect in many computer vision applications. The long-standing additive white Gaussian and heteroscedastic (signal-dependent) noise models widely used in the literature provide only a…