相关论文: Learning to Adapt to Position Bias in Vision Trans…

Position encoding recently has shown effective in the transformer architecture. It enables valuable supervision for dependency modeling between elements at different positions of the sequence. In this paper, we first investigate various…

Positional encoding (PE) underpins how permutation-invariant Transformers represent sequence order, yet how positional information is processed and stored remains poorly understood. Modern PE methods such as RoPE still struggle on tasks…

Visual Semantic Embedding (VSE) models, which map images into a rich semantic embedding space, have been a milestone in object recognition and zero-shot learning. Current approaches to VSE heavily rely on static word em-bedding techniques.…

Visual place recognition tasks often encounter significant challenges in landmark detection due to the presence of irrelevant objects such as humans, cars, and trees, despite the remarkable progress achieved by previous models, especially…

Current automatic vision systems face two major challenges: scalability and extreme variability of appearance. First, the computational time required to process an image typically scales linearly with the number of pixels in the image,…

Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…

This paper presents a framework for learning visual representations from unlabeled video demonstrations captured from multiple viewpoints. We show that these representations are applicable for imitating several robotic tasks, including pick…

This article describes a multi-modal method using simulated Lidar data via ray tracing and image pixel loss with differentiable rendering to optimize an object's position with respect to an observer or some referential objects in a computer…

Egocentric 3D human pose estimation (HPE) from images is challenging due to severe self-occlusions and strong distortion introduced by the fish-eye view from the head mounted camera. Although existing works use intermediate heatmap-based…

In contemporary imaging systems, achieving optimal auto-focus (AF) performance hinges on precise lens positioning. Extensive research has delved into refining algorithms for determining the ideal lens position across passive, active, and…

Learning good feature embeddings for images often requires substantial training data. As a consequence, in settings where training data is limited (e.g., few-shot and zero-shot learning), we are typically forced to use a generic feature…

Robots have the capability to collect large amounts of data autonomously by interacting with objects in the world. However, it is often not obvious \emph{how} to learning from autonomously collected data without human-labeled supervision.…

Vision transformers have demonstrated remarkable success in classification by leveraging global self-attention to capture long-range dependencies. However, this same mechanism can obscure fine-grained spatial details crucial for tasks such…

Visual localization allows autonomous robots to relocalize when losing track of their pose by matching their current observation with past ones. However, ambiguous scenes pose a challenge for such systems, as repetitive structures can be…

Vision transformers (ViTs) - especially feature foundation models like DINOv2 - learn rich representations useful for many downstream tasks. However, architectural choices (such as positional encoding) can lead to these models displaying…

Recent research on learned visual descriptors has shown promising improvements in correspondence estimation, a key component of many 3D vision tasks. However, existing descriptor learning frameworks typically require ground-truth…

Monocular depth predictors are typically trained on large-scale training sets which are naturally biased w.r.t the distribution of camera poses. As a result, trained predictors fail to make reliable depth predictions for testing examples…

Cross-domain object detection and semantic segmentation have witnessed impressive progress recently. Existing approaches mainly consider the domain shift resulting from external environments including the changes of background, illumination…

In this paper, we study imitation learning under the challenging setting of: (1) only a single demonstration, (2) no further data collection, and (3) no prior task or object knowledge. We show how, with these constraints, imitation learning…

Image-text matching tasks have recently attracted a lot of attention in the computer vision field. The key point of this cross-domain problem is how to accurately measure the similarity between the visual and the textual contents, which…