相关论文: Leveraging Pretrained Diffusion Models for Zero-Sh…

Diffusion/score-based models have recently emerged as powerful generative priors for solving inverse problems, including accelerated MRI reconstruction. While their flexibility allows decoupling the measurement model from the learned prior,…

Denoising diffusion models are a powerful type of generative models used to capture complex distributions of real-world signals. However, their applicability is limited to scenarios where training samples are readily available, which is not…

Autonomous vehicles (AVs) are expected to revolutionize transportation by improving efficiency and safety. Their success relies on 3D vision systems that effectively sense the environment and detect traffic agents. Among sensors AVs use to…

Point clouds captured by scanning devices are often incomplete due to occlusion. To overcome this limitation, point cloud completion methods have been developed to predict the complete shape of an object based on its partial input. These…

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…

The goal of object-centric representation learning is to decompose visual scenes into a structured representation that isolates the entities. Recent successes have shown that object-centric representation learning can be scaled to…

We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain…

Robots operating in human environments must be able to rearrange objects into semantically-meaningful configurations, even if these objects are previously unseen. In this work, we focus on the problem of building physically-valid structures…

Model fusion seeks to combine independently trained neural networks into a single model without retraining, but is complicated by representational divergence arising from permutation invariance, random initialization, and heterogeneous…

Zero-shot object pose estimation enables the retrieval of object poses from images without necessitating object-specific training. In recent approaches this is facilitated by vision foundation models (VFM), which are pre-trained models that…

It is desirable to enable robots capable of automatic assembly. Structural understanding of object parts plays a crucial role in this task yet remains relatively unexplored. In this paper, we focus on the setting of furniture assembly from…

Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In this work, we introduce a novel superpoint-based perception…

Pretrained diffusion models have demonstrated strong capabilities in zero-shot inverse problem solving by incorporating observation information into the generation process of the diffusion models. However, this presents an inherent dilemma:…

Location and appearance are the key cues for video object segmentation. Many sources such as RGB, depth, optical flow and static saliency can provide useful information about the objects. However, existing approaches only utilize the RGB or…

In autonomous driving scenarios, the collected LiDAR point clouds can be challenged by occlusion and long-range sparsity, limiting the perception of autonomous driving systems. Scene completion methods can infer the missing parts of…

Diffusion models have proven to be highly effective in image and video generation; however, they encounter challenges in the correct composition of objects when generating images of varying sizes due to single-scale training data. Adapting…

Diffusion models have become a popular approach for image generation and reconstruction due to their numerous advantages. However, most diffusion-based inverse problem-solving methods only deal with 2D images, and even recently published 3D…

Large-scale pre-trained vision-language models allow for the zero-shot text-based generation of 3D avatars. The previous state-of-the-art method utilized CLIP to supervise neural implicit models that reconstructed a human body mesh.…

Synthetic dataset generation in Computer Vision, particularly for industrial applications, is still underexplored. Industrial defect segmentation, for instance, requires highly accurate labels, yet acquiring such data is costly and…

Faithfully reconstructing textured meshes is crucial for many applications. Compared to text or image modalities, leveraging 3D colored point clouds as input (colored-PC-to-mesh) offers inherent advantages in comprehensively and precisely…