相关论文: TesserAct: Learning 4D Embodied World Models

Imitation from videos often fails when expert demonstrations and learner environments exhibit domain shifts, such as discrepancies in lighting, color, or texture. While visual randomization partially addresses this problem by augmenting…

Visual scene understanding is an important capability that enables robots to purposefully act in their environment. In this paper, we propose a novel approach to object-class segmentation from multiple RGB-D views using deep learning. We…

Visual representations play a crucial role in developing generalist robotic policies. Previous vision encoders, typically pre-trained with single-image reconstruction or two-image contrastive learning, tend to capture static information,…

Imitation learning is a powerful tool for training agents by leveraging expert knowledge, and being able to replicate a given trajectory is an integral part of it. In complex environments, like modern 3D video games, distribution shift and…

We present a novel deep learning architecture for probabilistic future prediction from video. We predict the future semantics, geometry and motion of complex real-world urban scenes and use this representation to control an autonomous…

Deep reinforcement learning has proven to be a great success in allowing agents to learn complex tasks. However, its application to actual robots can be prohibitively expensive. Furthermore, the unpredictability of human behavior in…

We design a new approach that allows robot learning of new activities from unlabeled human example videos. Given videos of humans executing the same activity from a human's viewpoint (i.e., first-person videos), our objective is to make the…

Multi-view video reconstruction plays a vital role in computer vision, enabling applications in film production, virtual reality, and motion analysis. While recent advances such as 4D Gaussian Splatting (4DGS) have demonstrated impressive…

This paper focuses on the task of 4D shape reconstruction from a sequence of point clouds. Despite the recent success achieved by extending deep implicit representations into 4D space, it is still a great challenge in two respects, i.e. how…

Efficient neural representations for dynamic video scenes are critical for applications ranging from video compression to interactive simulations. Yet, existing methods often face challenges related to high memory usage, lengthy training…

We propose NormalGAN, a fast adversarial learning-based method to reconstruct the complete and detailed 3D human from a single RGB-D image. Given a single front-view RGB-D image, NormalGAN performs two steps: front-view RGB-D rectification…

Modeling and rendering of dynamic scenes is challenging, as natural scenes often contain complex phenomena such as thin structures, evolving topology, translucency, scattering, occlusion, and biological motion. Mesh-based reconstruction and…

Humans possess an exceptional ability to imagine 4D scenes, encompassing both motion and 3D geometry, from a single still image. This ability is rooted in our accumulated observations of similar scenes and an intuitive understanding of…

Understanding and reconstructing the complex geometry and motion of dynamic scenes from video remains a formidable challenge in computer vision. This paper introduces D4RT, a simple yet powerful feedforward model designed to efficiently…

Event cameras provide a number of benefits over traditional cameras, such as the ability to track incredibly fast motions, high dynamic range, and low power consumption. However, their application into computer vision problems, many of…

This study introduces an efficient and effective method, MeDM, that utilizes pre-trained image Diffusion Models for video-to-video translation with consistent temporal flow. The proposed framework can render videos from scene position…

The objective of this paper is self-supervised learning of spatio-temporal embeddings from video, suitable for human action recognition. We make three contributions: First, we introduce the Dense Predictive Coding (DPC) framework for…

Agents capable of reasoning and planning in the real world require the ability of predicting the consequences of their actions. While world models possess this capability, they most often require action labels, that can be complex to obtain…

The recent success in deep learning has lead to various effective representation learning methods for videos. However, the current approaches for video representation require large amount of human labeled datasets for effective learning. We…

Key challenges for the deployment of reinforcement learning (RL) agents in the real world are the discovery, representation and reuse of skills in the absence of a reward function. To this end, we propose a novel approach to learn a…