相关论文: PosePilot: Steering Camera Pose for Generative Wor…

Tracking a point through a video can be a challenging task due to uncertainty arising from visual obfuscations, such as appearance changes and occlusions. Although current state-of-the-art discriminative models excel in regressing long-term…

3D pose estimation has recently gained substantial interests in computer vision domain. Existing 3D pose estimation methods have a strong reliance on large size well-annotated 3D pose datasets, and they suffer poor model generalization on…

Depth estimation is a critical technology in autonomous driving, and multi-camera systems are often used to achieve a 360$^\circ$ perception. These 360$^\circ$ camera sets often have limited or low-quality overlap regions, making multi-view…

This paper presents DriVerse, a generative model for simulating navigation-driven driving scenes from a single image and a future trajectory. Previous autonomous driving world models either directly feed the trajectory or discrete control…

Over the last two decades, deep learning has transformed the field of computer vision. Deep convolutional networks were successfully applied to learn different vision tasks such as image classification, image segmentation, object detection…

World model-based searching and planning are widely recognized as a promising path toward human-level physical intelligence. However, current driving world models primarily rely on video diffusion models, which specialize in visual…

Robust trajectory planning under camera viewpoint changes is important for scalable end-to-end autonomous driving. However, existing models often depend heavily on the camera viewpoints seen during training. We investigate an…

Generating pose-aligned 3D objects is challenging due to the spatial mismatches and transformation ambiguities inherent in decoupled canonical-then-rotate paradigms. To this end, we introduce Pose-Aware Diffusion (PAD), a novel end-to-end…

Learning world models can teach an agent how the world works in an unsupervised manner. Even though it can be viewed as a special case of sequence modeling, progress for scaling world models on robotic applications such as autonomous…

This paper introduces PoseLess, a novel framework for robot hand control that eliminates the need for explicit pose estimation by directly mapping 2D images to joint angles using projected representations. Our approach leverages synthetic…

Pose estimation and map building are central ingredients of autonomous robots and typically rely on the registration of sensor data. In this paper, we investigate a new metric for registering images that builds upon on the idea of the…

Given sparse views of a 3D object, estimating their camera poses is a long-standing and intractable problem. Toward this goal, we consider harnessing the pre-trained diffusion model of novel views conditioned on viewpoints (Zero-1-to-3). We…

World models allow agents to simulate the consequences of actions in imagined environments for planning, control, and long-horizon decision-making. However, existing autoregressive world models struggle with visually coherent predictions…

Unsupervised monocular depth estimation frameworks have shown promising performance in autonomous driving. However, existing solutions primarily rely on a simple convolutional neural network for ego-motion recovery, which struggles to…

As 360{\deg} cameras become prevalent in many autonomous systems (e.g., self-driving cars and drones), efficient 360{\deg} perception becomes more and more important. We propose a novel self-supervised learning approach for predicting the…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

Most successful approaches to estimate the 6D pose of an object typically train a neural network by supervising the learning with annotated poses in real world images. These annotations are generally expensive to obtain and a common…

Pose-guided video generation has become a powerful tool in creative industries, exemplified by frameworks like Animate Anyone. However, conditioning generation on specific poses introduces serious risks, such as impersonation, privacy…

World models and video generation are pivotal technologies in the domain of autonomous driving, each playing a critical role in enhancing the robustness and reliability of autonomous systems. World models, which simulate the dynamics of…

Real-world robotics applications demand object pose estimation methods that work reliably across a variety of scenarios. Modern learning-based approaches require large labeled datasets and tend to perform poorly outside the training domain.…