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

Tactile sensing provides a promising sensing modality for object pose estimation in manipulation settings where visual information is limited due to occlusion or environmental effects. However, efficiently leveraging tactile data for…

Accurate modeling of robot dynamics is essential for model-based control, yet remains challenging under distributional shifts and real-time constraints. In this work, we formulate system identification as an in-context meta-learning problem…

Diffusion models have significantly advanced the field of generative modeling. However, training a diffusion model is computationally expensive, creating a pressing need to adapt off-the-shelf diffusion models for downstream generation…

Seismic data interpolation is a critical pre-processing step for improving seismic imaging quality and remains a focus of academic innovation. To address the computational inefficiencies caused by extensive iterative resampling in current…

Generalizing locomotion policies across diverse legged robots with varying morphologies is a key challenge due to differences in observation/action dimensions and system dynamics. In this work, we propose Multi-Loco, a novel unified…

We present a novel method for estimation of the fiber orientation distribution (FOD) function based on diffusion-weighted Magnetic Resonance Imaging (D-MRI) data. We formulate the problem of FOD estimation as a regression problem through…

Crystal Structure Prediction (CSP) remains a fundamental challenge with significant implications for the development of new materials and the advancement of various scientific disciplines. Recent developments have shown that generative…

Radar and camera fusion yields robustness in perception tasks by leveraging the strength of both sensors. The typical extracted radar point cloud is 2D without height information due to insufficient antennas along the elevation axis, which…

Estimating relative pose from image pairs fundamentally requires only a minimal subset of geometrically consistent correspondences. However, most learning-based approaches rely on dense matching or direct regression, leading to redundancy…

In the field of Robot Learning, the complex mapping between high-dimensional observations such as RGB images and low-level robotic actions, two inherently very different spaces, constitutes a complex learning problem, especially with…

The growing adoption of batteries in the electric vehicle industry and various consumer products has created an urgent need for effective recycling solutions. These products often contain a mix of compliant and rigid components, making…

We present ActionDiffusion -- a novel diffusion model for procedure planning in instructional videos that is the first to take temporal inter-dependencies between actions into account in a diffusion model for procedure planning. This…

Diffusion Policy is a powerful technique tool for learning end-to-end visuomotor robot control. It is expected that Diffusion Policy possesses scalability, a key attribute for deep neural networks, typically suggesting that increasing model…

Cloud contamination severely degrades the usability of remote sensing imagery and poses a fundamental challenge for downstream Earth observation tasks. Recently, diffusion-based models have emerged as a dominant paradigm for remote sensing…

We present a novel motion planning algorithm for transferring a liquid body from a source to a target container. Our approach uses a receding-horizon optimization strategy that takes into account fluid constraints and avoids collisions. In…

Extensive pre-training with large data is indispensable for downstream geometry and semantic visual perception tasks. Thanks to large-scale text-to-image (T2I) pretraining, recent works show promising results by simply fine-tuning T2I…

Vision and touch are two of the important sensing modalities for humans and they offer complementary information for sensing the environment. Robots could also benefit from such multi-modal sensing ability. In this paper, addressing for the…

Diffusion models have made breakthroughs in 3D generation tasks. Current 3D diffusion models focus on reconstructing target shape from images or a set of partial observations. While excelling in global context understanding, they struggle…

Classical methods in robot motion planning, such as sampling-based and optimization-based methods, often struggle with scalability towards higher-dimensional state spaces and complex environments. Diffusion models, known for their…

This work studies the challenging problem of acquiring high-quality underwater images via 4-D light field (LF) imaging. To this end, we propose GeoDiff-LF, a novel diffusion-based framework built upon SD-Turbo to enhance underwater 4-D LF…