相关论文: MASIV: Toward Material-Agnostic System Identificat…
We introduce the challenging problem of multi-object system identification from videos, for which prior methods are ill-suited due to their focus on single-object scenes or discrete material classification with a fixed set of material…
We consider the problem of estimating an object's physical properties such as mass, friction, and elasticity directly from video sequences. Such a system identification problem is fundamentally ill-posed due to the loss of information…
Generating interaction-centric videos, such as those depicting humans or robots interacting with objects, is crucial for embodied intelligence, as they provide rich and diverse visual priors for robot learning, manipulation policy training,…
People with Visual Impairments (PVI) typically recognize objects through haptic perception. Knowing objects and materials before touching is desired by the target users but under-explored in the field of human-centered robotics. To fill…
We present MOSAIC-GS, a novel, fully explicit, and computationally efficient approach for high-fidelity dynamic scene reconstruction from monocular videos using Gaussian Splatting. Monocular reconstruction is inherently ill-posed due to the…
This work presents an instance-agnostic learning framework that fuses vision with dynamics to simultaneously learn shape, pose trajectories, and physical properties via the use of geometry as a shared representation. Unlike many contact…
Human behavior understanding in videos is a complex, still unsolved problem and requires to accurately model motion at both the local (pixel-wise dense prediction) and global (aggregation of motion cues) levels. Current approaches based on…
Distilling analytical models from data has the potential to advance our understanding and prediction of nonlinear dynamics. Although discovery of governing equations based on observed system states (e.g., trajectory time series) has…
Video representation learning has recently attracted attention in computer vision due to its applications for activity and scene forecasting or vision-based planning and control. Video prediction models often learn a latent representation…
Ensuring safety in autonomous driving is a complex challenge requiring handling unknown objects and unforeseen driving scenarios. We develop multiscale video transformers capable of detecting unknown objects using only motion cues. Video…
We address the task of recognizing objects from video input. This important problem is relatively unexplored, compared with image-based object recognition. To this end, we make the following contributions. First, we introduce two…
Distilling interpretable physical laws from videos has led to expanded interest in the computer vision community recently thanks to the advances in deep learning, but still remains a great challenge. This paper introduces an end-to-end…
Learning interpretable representations of visual data is an important challenge, to make machines' decisions understandable to humans and to improve generalisation outside of the training distribution. To this end, we propose a deep…
Masked video modeling~(MVM) has emerged as a highly effective pre-training strategy for visual foundation models, whereby the model reconstructs masked spatiotemporal tokens using information from visible tokens. However, a key challenge in…
Identifying underlying governing equations and physical relevant information from high-dimensional observable data has always been a challenge in physical sciences. With the recent advances in sensing technology and available datasets,…
A central challenge of video prediction lies where the system has to reason the objects' future motions from image frames while simultaneously maintaining the consistency of their appearances across frames. This work introduces an…
Visual-Inertial Odometry (VIO) usually suffers from drifting over long-time runs, the accuracy is easily affected by dynamic objects. We propose DynaVIG, a navigation and object tracking system based on the integration of Monocular Vision,…
This work considers identifying parameters characterizing a physical system's dynamic motion directly from a video whose rendering configurations are inaccessible. Existing solutions require massive training data or lack generalizability to…
We present a novel approach to estimating physical properties of objects from video. Our approach consists of a physics engine and a correction estimator. Starting from the initial observed state, object behavior is simulated forward in…
Vision Language Models (VLMs) perform well on standard video tasks but struggle with physics-related reasoning involving motion dynamics and spatial interactions. We present a novel approach to address this gap by translating physical-world…