相关论文: RoboSwap: A GAN-driven Video Diffusion Framework F…

Grasping is a fundamental robot skill, yet despite significant research advancements, learning-based 6-DOF grasping approaches are still not turnkey and struggle to generalize across different embodiments and in-the-wild settings. We build…

We train a feed-forward text-to-3D diffusion generator for human characters using only single-view 2D data for supervision. Existing 3D generative models cannot yet match the fidelity of image or video generative models. State-of-the-art 3D…

Grasping in cluttered scenes is challenging for robot vision systems, as detection accuracy can be hindered by partial occlusion of objects. We adopt a reinforcement learning (RL) framework and 3D vision architectures to search for feasible…

Despite promising progress in face swapping task, realistic swapped images remain elusive, often marred by artifacts, particularly in scenarios involving high pose variation, color differences, and occlusion. To address these issues, we…

Video face swapping is becoming increasingly popular across various applications, yet existing methods primarily focus on static images and struggle with video face swapping because of temporal consistency and complex scenarios. In this…

World models have become indispensable tools for embodied intelligence, serving as powerful simulators capable of generating realistic robotic videos while addressing critical data scarcity challenges. However, current embodied world models…

Face swapping aims at injecting a source image's identity (i.e., facial features) into a target image, while strictly preserving the target's attributes, which are irrelevant to identity. However, we observed that previous approaches still…

GANs are able to perform generation and manipulation tasks, trained on a single video. However, these single video GANs require unreasonable amount of time to train on a single video, rendering them almost impractical. In this paper we…

The generalization of vision-language-action (VLA) models heavily relies on diverse training data. However, acquiring large-scale data for robot manipulation across varied object appearances is costly and labor-intensive. To address this…

We present a method to generate video-action pairs that follow text instructions, starting from an initial image observation and the robot's joint states. Our approach automatically provides action labels for video diffusion models,…

Human videos are a scalable source of training data for robot learning. However, humans and robots significantly differ in embodiment, making many human actions infeasible for direct execution on a robot. Still, these demonstrations convey…

We introduce GaussianSwap, a novel video face swapping framework that constructs a 3D Gaussian Splatting based face avatar from a target video while transferring identity from a source image to the avatar. Conventional video swapping…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

The task of video generation requires synthesizing visually realistic and temporally coherent video frames. Existing methods primarily use asynchronous auto-regressive models or synchronous diffusion models to address this challenge.…

In this paper, we propose a novel diffusion-based multi-condition controllable framework for video head swapping, which seamlessly transplant a human head from a static image into a dynamic video, while preserving the original body and…

With the rapid progress of video generation, demand for customized video editing is surging, where subject swapping constitutes a key component yet remains under-explored. Prevailing swapping approaches either specialize in narrow…

Facial attribute editing aims to modify target attributes while preserving attribute-irrelevant content and overall image fidelity. Existing GAN-based methods provide favorable controllability, but often suffer from weak alignment between…

Precise robotic grasping of several novel objects is a huge challenge in manufacturing, automation, and logistics. Most of the current methods for model-free grasping are disadvantaged by the sparse data in grasping datasets and by errors…

Video object segmentation is a fundamental step in many advanced vision applications. Most existing algorithms are based on handcrafted features such as HOG, super-pixel segmentation or texture-based techniques, while recently deep features…

Data collection in robotics is spread across diverse hardware, and this variation will increase as new hardware is developed. Effective use of this growing body of data requires methods capable of learning from diverse robot embodiments. We…