相关论文: NVSPolicy: Adaptive Novel-View Synthesis for Gener…

Novel-view synthesis techniques achieve impressive results for static scenes but struggle when faced with the inconsistencies inherent to casual capture settings: varying illumination, scene motion, and other unintended effects that are…

Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…

Visualizing high-dimensional datasets through a generalized embedding has been a challenge for a long time. Several methods have shown up for the same, but still, they have not been able to generate a generalized embedding, which not only…

We propose VISION-SLS, a method for nonlinear output-feedback control from high-resolution RGB images which provides robust constraint satisfaction guarantees under calibrated uncertainty bounds despite partial observability, sensor noise,…

Retrospective novel view synthesis (NVS) of dynamic scenes is fundamental to applications such as sports. Recent dynamic 3D Gaussian Splatting (3DGS) approaches introduce temporally coupled formulations to enforce motion coherence across…

We introduce a language-grounded visual prompting method to adapt the visual encoder of vision-language models for downstream tasks. By capitalizing on language integration, we devise a parameter-efficient strategy to adjust the input of…

Generalizing policies to unseen scenarios remains a critical challenge in visual reinforcement learning, where agents often overfit to the specific visual observations of the training environment. In unseen environments, distracting pixels…

In this paper, we firstly consider view-dependent effects into single image-based novel view synthesis (NVS) problems. For this, we propose to exploit the camera motion priors in NVS to model view-dependent appearance or effects (VDE) as…

With the maturity of visual detection techniques, we are more ambitious in describing visual content with open-vocabulary, fine-grained and free-form language, i.e., the task of image captioning. In particular, we are interested in…

Generalization remains a fundamental challenge in robotic manipulation. To tackle this challenge, recent Vision-Language-Action (VLA) models build policies on top of Vision-Language Models (VLMs), seeking to transfer their open-world…

Semi-supervised learning improves the performance of supervised machine learning by leveraging methods from unsupervised learning to extract information not explicitly available in the labels. Through the design of a system that enables a…

Reinforcement Learning (RL) agents often struggle to generalize knowledge to new tasks, even those structurally similar to ones they have mastered. Although recent approaches have attempted to mitigate this issue via zero-shot transfer,…

The goal of this paper is to improve the performance and reliability of vision-language-action (VLA) models through iterative online interaction. Since collecting policy rollouts in the real world is expensive, we investigate whether a…

Robot learning holds tremendous promise to unlock the full potential of flexible, general, and dexterous robot systems, as well as to address some of the deepest questions in artificial intelligence. However, bringing robot learning to the…

Simulation provides a safe and efficient way to generate useful data for learning complex robotic tasks. However, matching simulation and real-world dynamics can be quite challenging, especially for systems that have a large number of…

Vision-Language Navigation requires the agent to follow natural language instructions to reach a specific target. The large discrepancy between seen and unseen environments makes it challenging for the agent to generalize well. Previous…

Novel View Synthesis (NVS) is concerned with synthesizing views under camera viewpoint transformations from one or multiple input images. NVS requires explicit reasoning about 3D object structure and unseen parts of the scene to synthesize…

Visuomotor policies trained via behavior cloning are vulnerable to covariate shift, where small deviations from expert trajectories can compound into failure. Common strategies to mitigate this issue involve expanding the training…

Novel-view synthesis (NVS) can be tackled through different approaches, depending on the general setting: a single source image to a short video sequence, exact or noisy camera pose information, 3D-based information such as point clouds…

Building generalist robot policies that can handle diverse tasks in open-ended environments is a central challenge in robotics. To leverage knowledge from large-scale pretraining, prior work (VLA) has typically built generalist policies…