相关论文: Hybrid Perception and Equivariant Diffusion for Ro…

Diffusion policies are powerful visuomotor models for robotic manipulation, yet they often fail to generalize to manipulators or end-effectors unseen during training and struggle to accommodate new task requirements at inference time.…

Mobile robots on construction sites require accurate pose estimation to perform autonomous surveying and inspection missions. Localization in construction sites is a particularly challenging problem due to the presence of repetitive…

This paper's primary objective is to develop a robust generalist perception model capable of addressing multiple tasks under constraints of computational resources and limited training data. We leverage text-to-image diffusion models…

Learning priors on trajectory distributions can help accelerate robot motion planning optimization. Given previously successful plans, learning trajectory generative models as priors for a new planning problem is highly desirable. Prior…

Latest diffusion models have shown promising results in category-level 6D object pose estimation by modeling the conditional pose distribution with depth image input. The existing methods, however, suffer from slow convergence during…

In this paper, we argue that iterative computation with diffusion models offers a powerful paradigm for not only generation but also visual perception tasks. We unify tasks such as depth estimation, optical flow, and amodal segmentation…

Pore-scale simulations accurately describe transport properties of fluids in the subsurface. These simulations enhance our understanding of applications such as assessing hydrogen storage efficiency and forecasting CO$_2$ sequestration…

Fully-supervised category-level pose estimation aims to determine the 6-DoF poses of unseen instances from known categories, requiring expensive mannual labeling costs. Recently, various self-supervised category-level pose estimation…

Multi-object tracking (MOT) is a fundamental task in computer vision with critical applications in autonomous driving and robotics. Multimodal MOT that integrates visible light and thermal infrared information is particularly essential for…

Collaborative visual perception methods have gained widespread attention in the autonomous driving community in recent years due to their ability to address sensor limitation problems. However, the absence of explicit depth information…

Neural diffusion processes provide a scalable, non-Gaussian approach to modelling distributions over functions, but existing formulations are limited to single-task inference and do not capture dependencies across related tasks. In many…

The integration of Diffusion Models into Intelligent Transportation Systems (ITS) is a substantial improvement in the detection of accidents. We present a novel hybrid model integrating guidance classification with diffusion techniques. By…

A truly generalizable approach to rigid segmentation and motion estimation is fundamental to 3D understanding of articulated objects and moving scenes. In view of the closely intertwined relationship between segmentation and motion…

Diffusion models have achieved impressive performance on multi-focus image fusion (MFIF). However, a key challenge in applying diffusion models to the ill-posed MFIF problem is that defocus blur can make common symmetric geometric…

The Vision-Language Foundation Model has recently shown outstanding performance in various perception learning tasks. The outstanding performance of the vision-language model mainly relies on large-scale pre-training datasets and different…

Diffusion adaptation is a powerful strategy for distributed estimation and learning over networks. Motivated by the concept of combining adaptive filters, this work proposes a combination framework that aggregates the operation of multiple…

Generating diverse and high-quality 3D assets automatically poses a fundamental yet challenging task in 3D computer vision. Despite extensive efforts in 3D generation, existing optimization-based approaches struggle to produce large-scale…

Diffusion models, as a class of deep generative models, have recently emerged as powerful tools for robot skills by enabling stable training with reliable convergence. In this paper, we present an end-to-end framework for generating long,…

We introduce Diffusion Active Learning, a novel approach that combines generative diffusion modeling with data-driven sequential experimental design to adaptively acquire data for inverse problems. Although broadly applicable, we focus on…

Safe and effective motion planning is crucial for autonomous robots. Diffusion models excel at capturing complex agent interactions, a fundamental aspect of decision-making in dynamic environments. Recent studies have successfully applied…