相关论文: GENNAV: Polygon Mask Generation for Generalized Re…

Training deep networks with limited labeled data while achieving a strong generalization ability is key in the quest to reduce human annotation efforts. This is the goal of semi-supervised learning, which exploits more widely available…

Recent approaches for segmentation have leveraged pretrained generative models as feature extractors, treating segmentation as a downstream adaptation task via indirect feature retrieval. This implicit use suffers from a fundamental…

Detecting navigable space is a fundamental capability for mobile robots navigating in unknown or unmapped environments. In this work, we treat visual navigable space segmentation as a scene decomposition problem and propose Polyline…

We present a 3D generative model for general natural scenes. Lacking necessary volumes of 3D data characterizing the target scene, we propose to learn from a single scene. Our key insight is that a natural scene often contains multiple…

Rapid advancements in medical image segmentation performance have been significantly driven by the development of Convolutional Neural Networks (CNNs) and Vision Transformers (ViTs). These models follow the discriminative pixel-wise…

We present SceneNAT, a single-stage masked non-autoregressive Transformer that synthesizes complete 3D indoor scenes from natural language instructions through only a few parallel decoding passes, offering improved performance and…

We present Generative Semantic Segmentation (GSS), a generative learning approach for semantic segmentation. Uniquely, we cast semantic segmentation as an image-conditioned mask generation problem. This is achieved by replacing the…

In design of instance segmentation networks that reconstruct masks, segmentation is often taken as its literal definition -- assigning each pixel a label. This has led to thinking the problem as a template matching one with the goal of…

We present DreamToNav, a novel autonomous robot framework that uses generative video models to enable intuitive, human-in-the-loop control. Instead of relying on rigid waypoint navigation, users provide natural language prompts (e.g.…

Rapid progress in terrain-aware autonomous ground navigation has been driven by advances in supervised semantic segmentation. However, these methods rely on costly data collection and labor-intensive ground truth labeling to train deep…

This paper aims to investigate representation learning for large scale visual place recognition, which consists of determining the location depicted in a query image by referring to a database of reference images. This is a challenging task…

Language-goal aerial navigation requires UAVs to localize targets in the complex outdoors, such as urban blocks based on textual instructions. The indoor methods are often hard to scale to urban scenes due to ambiguous objects, limited…

This work presents a mapless global navigation approach for outdoor applications. It combines the exploratory capacity of conditional variational autoencoders (CVAEs) to generate trajectories and the semantic segmentation capabilities of a…

Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…

Recent advances in text-to-video diffusion models have enabled the generation of high-quality videos conditioned on textual descriptions. However, most existing text-to-video models rely solely on textual conditions, lacking general…

Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated datasets for off-road navigation, strictly-supervised…

The data scarcity, label noise, and long-tailed category imbalance remain important and unresolved challenges in many computer vision tasks, such as object detection and instance segmentation, especially on large-vocabulary benchmarks like…

Tracking a point through a video can be a challenging task due to uncertainty arising from visual obfuscations, such as appearance changes and occlusions. Although current state-of-the-art discriminative models excel in regressing long-term…

Directly producing planning results from raw sensors has been a long-desired solution for autonomous driving and has attracted increasing attention recently. Most existing end-to-end autonomous driving methods factorize this problem into…

Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…