相关论文: RECON: Robust symmetry discovery via Explicit Cano…

We introduce an unsupervised technique for encoding point clouds into a canonical shape representation, by disentangling shape and pose. Our encoder is stable and consistent, meaning that the shape encoding is purely pose-invariant, while…

Image orientation detection requires high-level scene understanding. Humans use object recognition and contextual scene information to correctly orient images. In literature, the problem of image orientation detection is mostly confronted…

The scale and quality of datasets are crucial for training robust perception models. However, obtaining large-scale annotated data is both costly and time-consuming. Generative models have emerged as a powerful tool for data augmentation by…

The pose problem is one of the bottlenecks in automatic face recognition. We argue that one of the diffculties in this problem is the severe misalignment in face images or feature vectors with different poses. In this paper, we propose that…

Visual relocalization is the task of estimating the camera pose given an image it views. Absolute pose regression offers a solution to this task by training a neural network, directly regressing the camera pose from image features. While an…

We tackle the problem of learning the geometry of multiple categories of deformable objects jointly. Recent work has shown that it is possible to learn a unified dense pose predictor for several categories of related objects. However,…

Detection of out-of-distribution samples is one of the critical tasks for real-world applications of computer vision. The advancement of deep learning has enabled us to analyze real-world data which contain unexplained samples, accentuating…

Progress in 3D object understanding has relied on manually canonicalized shape datasets that contain instances with consistent position and orientation (3D pose). This has made it hard to generalize these methods to in-the-wild shapes, eg.,…

Machine learning models deployed in the wild naturally encounter unlabeled samples from both known and novel classes. Challenges arise in learning from both the labeled and unlabeled data, in an open-world semi-supervised manner. In this…

Cross-task generalization is a core challenge in open-world robotic manipulation, and the key lies in extracting transferable manipulation knowledge from seen tasks. Recent in-context learning approaches leverage seen task demonstrations to…

Group Equivariant Convolution (GConv) can capture rotational equivariance from original data. It assumes uniform and strict rotational equivariance across all features as the transformations under the specific group. However, the…

Although 3D-aware GANs based on neural radiance fields have achieved competitive performance, their applicability is still limited to objects or scenes with the ground-truths or prediction models for clearly defined canonical camera poses.…

Imitation learning enables robots to learn new tasks from human examples. One fundamental limitation while learning from humans is causal confusion. Causal confusion occurs when the robot's observations include both task-relevant and…

In many applications, we desire neural networks to exhibit invariance or equivariance to certain groups due to symmetries inherent in the data. Recently, frame-averaging methods emerged to be a unified framework for attaining symmetries…

Recently, category-level 6D object pose estimation has achieved significant improvements with the development of reconstructing canonical 3D representations. However, the reconstruction quality of existing methods is still far from…

To be robust to illumination changes when detecting objects in images, the current trend is to train a Deep Network with training images captured under many different lighting conditions. Unfortunately, creating such a training set is very…

Data imbalance and open-ended distribution are two intrinsic characteristics of the real visual world. Though encouraging progress has been made in tackling each challenge separately, few works dedicated to combining them towards real-world…

Person re identification is a challenging retrieval task that requires matching a person's acquired image across non overlapping camera views. In this paper we propose an effective approach that incorporates both the fine and coarse pose…

While recent model-free Reinforcement Learning (RL) methods have demonstrated human-level effectiveness in gaming environments, their success in everyday tasks like visual navigation has been limited, particularly under significant…

We address the problem of generalized category discovery (GCD) in this paper, i.e. clustering the unlabeled images leveraging the information from a set of seen classes, where the unlabeled images could contain both seen classes and unseen…