相关论文: Controllable 3D Placement of Objects with Scene-Aw…

Object placement is a fundamental task for robots, yet it remains challenging for partially observed objects. Existing methods for object placement have limitations, such as the requirement for a complete 3D model of the object or the…

Image diffusion has recently shown remarkable performance in image synthesis and implicitly as an image prior. Such a prior has been used with conditioning to solve the inpainting problem, but only supporting binary user-based conditioning.…

Humans can easily understand a single image as depicting multiple potential objects permitting interaction. We use this skill to plan our interactions with the world and accelerate understanding new objects without engaging in interaction.…

Simple as it seems, moving an object to another location within an image is, in fact, a challenging image-editing task that requires re-harmonizing the lighting, adjusting the pose based on perspective, accurately filling occluded regions,…

Compositing an object into an image involves multiple non-trivial sub-tasks such as object placement and scaling, color/lighting harmonization, viewpoint/geometry adjustment, and shadow/reflection generation. Recent generative image…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

Video prediction is a crucial task for intelligent agents such as robots and autonomous vehicles, since it enables them to anticipate and act early on time-critical incidents. State-of-the-art video prediction methods typically model the…

The appearance of the same object may vary in different scene images due to perspectives and occlusions between objects. Humans can easily identify the same object, even if occlusions exist, by completing the occluded parts based on its…

Accurate knowledge of object poses is crucial to successful robotic manipulation tasks, and yet most current approaches only work in laboratory settings. Noisy sensors and cluttered scenes interfere with accurate pose recognition, which is…

Localizing objects in 3D scenes based on natural language requires understanding and reasoning about spatial relations. In particular, it is often crucial to distinguish similar objects referred by the text, such as "the left most chair"…

Precise object placement remains underexplored in aerial manipulation, where most systems rely on predefined target coordinates and focus primarily on grasping and control. Specifying exact placement poses, however, is cumbersome in…

This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…

Text-conditioned diffusion models can generate impressive images, but fall short when it comes to fine-grained control. Unlike direct-editing tools like Photoshop, text conditioned models require the artist to perform "prompt engineering,"…

The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…

Text-to-image diffusion models have attracted considerable interest due to their wide applicability across diverse fields. However, challenges persist in creating controllable models for personalized object generation. In this paper, we…

3D scene generation conditioned on text prompts has significantly progressed due to the development of 2D diffusion generation models. However, the textual description of 3D scenes is inherently inaccurate and lacks fine-grained control…

Diffusion-based generative models have revolutionized object-oriented image editing, yet their deployment in realistic object removal and insertion remains hampered by challenges such as the intricate interplay of physical effects and…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

Recent work has shown that diffusion models can serve as powerful neural rendering engines that can be leveraged for inserting virtual objects into images. However, unlike typical physics-based renderers, these neural rendering engines are…