相关论文: Veila: Panoramic LiDAR Generation from a Monocular…

Layout design generation has recently gained significant attention due to its potential applications in various fields, including UI, graphic, and floor plan design. However, existing models face two main challenges that limits their…

We introduce GAUDI, a generative model capable of capturing the distribution of complex and realistic 3D scenes that can be rendered immersively from a moving camera. We tackle this challenging problem with a scalable yet powerful approach,…

Visual navigation, a fundamental challenge in mobile robotics, demands versatile policies to handle diverse environments. Classical methods leverage geometric solutions to minimize specific costs, offering adaptability to new scenarios but…

Calibration is an essential prerequisite for the accurate data fusion of LiDAR and camera sensors. Traditional calibration techniques often require specific targets or suitable scenes to obtain reliable 2D-3D correspondences. To tackle the…

Autoregressive (AR) vision-language models (VLMs) have long dominated multimodal understanding, reasoning, and graphical user interface (GUI) grounding. Recently, discrete diffusion vision-language models (DVLMs) have shown strong…

Vision-based depth estimation is a key feature in autonomous systems, which often relies on a single camera or several independent ones. In such a monocular setup, dense depth is obtained with either additional input from one or several…

The complementary fusion of light detection and ranging (LiDAR) data and image data is a promising but challenging task for generating high-precision and high-density point clouds. This study proposes an innovative LiDAR-guided stereo…

Mobile robots and autonomous vehicles rely on multi-modal sensor setups to perceive and understand their surroundings. Aside from cameras, LiDAR sensors represent a central component of state-of-the-art perception systems. In addition to…

Light detection and ranging (LiDAR) is a ubiquitous tool to provide precise spatial awareness in various perception environments. A bionic LiDAR that can mimic human-like vision by adaptively gazing at selected regions of interest within a…

While multi-modal 3D semantic occupancy prediction typically enhances robustness by fusing camera and LiDAR inputs, its effectiveness is fundamentally constrained by environmental variability. Specifically, camera sensors suffer from severe…

Vision-language-action (VLA) models have shown strong generalization for robotic action prediction through large-scale vision-language pretraining. However, most existing models rely solely on RGB cameras, limiting their perception and,…

Efficiently predicting motion plans directly from vision remains a fundamental challenge in robotics, where planning typically requires explicit goal specification and task-specific design. Recent vision-language-action (VLA) models infer…

LiDARs and cameras are the two main sensors that are planned to be included in many announced autonomous vehicles prototypes. Each of the two provides a unique form of data from a different perspective to the surrounding environment. In…

In this work, we propose a novel approach, namely WeatherDG, that can generate realistic, weather-diverse, and driving-screen images based on the cooperation of two foundation models, i.e, Stable Diffusion (SD) and Large Language Model…

Holographic wave-shaping has found numerous applications across the physical sciences, especially since the development of digital spatial-light modulators (SLMs). A key challenge in digital holography consists in finding optimal hologram…

We propose a novel approach for disentangling visual and semantic features from the backbones of pre-trained diffusion models, enabling visual correspondence in a manner analogous to the well-established semantic correspondence. While…

The rapid progress of Multimodal Large Language Models (MLLMs) has unlocked the potential for enhanced 3D scene understanding and spatial reasoning. A recent line of work explores learning spatial reasoning directly from multi-view images,…

Monocular 3D Visual Grounding (Mono3DVG) is an emerging task that locates 3D objects in RGB images using text descriptions with geometric cues. However, existing methods face two key limitations. Firstly, they often over-rely on…

Modern Vision-Language Models (VLMs) can solve a wide range of tasks requiring visual reasoning. In real-world scenarios, desirable properties for VLMs include fast inference and controllable generation (e.g., constraining outputs to adhere…

We introduce MVControl, a novel neural network architecture that enhances existing pre-trained multi-view 2D diffusion models by incorporating additional input conditions, e.g. edge maps. Our approach enables the generation of controllable…