相关论文: DUViN: Diffusion-Based Underwater Visual Navigatio…

Visual navigation models based on deep learning can learn effective policies when trained on large amounts of visual observations through reinforcement learning. Unfortunately, collecting the required experience in the real world requires…

Learning a generalist embodied agent capable of completing multiple tasks poses challenges, primarily stemming from the scarcity of action-labeled robotic datasets. In contrast, a vast amount of human videos exist, capturing intricate tasks…

Underwater images are severely degraded by wavelength-dependent light absorption and scattering, resulting in color distortion, low contrast, and loss of fine details that hinder vision-based underwater applications. To address these…

Visuomotor imitation learning policies enable robots to efficiently acquire manipulation skills from visual demonstrations. However, as scene complexity and visual distractions increase, policies that perform well in simple settings often…

Underwater images suffer from severe degradations, including color distortions, reduced visibility, and loss of structural details due to wavelength-dependent attenuation and scattering. Existing enhancement methods primarily focus on…

Underwater images suffer severe degradation due to wavelength-dependent attenuation, scattering, and illumination non-uniformity that vary across water types and depths. We propose an unsupervised Domain-Invariant Visual Enhancement and…

Autonomous underwater vehicles (AUVs) rely on a variety of sensors - acoustic, inertial and visual - for intelligent decision making. Due to its non-intrusive, passive nature, and high information content, vision is an attractive sensing…

Robust and accurate perception of humans in their 3D scene context is essential for integrating robots into everyday environments. Existing approaches, however, often fail to predict plausible and accurate human motion estimates that are…

Autonomous ground vehicle (UGV) navigation has the potential to revolutionize the transportation system by increasing accessibility to disabled people, ensure safety and convenience of use. However, UGV requires extensive and efficient…

Generating high-quality and person-generic visual dubbing remains a challenge. Recent innovation has seen the advent of a two-stage paradigm, decoupling the rendering and lip synchronization process facilitated by intermediate…

Navigating unfamiliar environments presents significant challenges for household robots, requiring the ability to recognize and reason about novel decoration and layout. Existing reinforcement learning methods cannot be directly transferred…

Imitation learning has proven to be a powerful tool for training complex visuomotor policies. However, current methods often require hundreds to thousands of expert demonstrations to handle high-dimensional visual observations. A key reason…

Deep domain adaption has emerged as a new learning technique to address the lack of massive amounts of labeled data. Compared to conventional methods, which learn shared feature subspaces or reuse important source instances with shallow…

Air-ground integrated networks can relieve communication pressure on ground transportation networks and provide 6G-enabled vehicular Metaverses services offloading in remote areas with sparse RoadSide Units (RSUs) coverage and downtown…

Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…

Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…

Visual imitation learning is effective for robots to learn versatile tasks. However, many existing methods rely on behavior cloning with supervised historical trajectories, limiting their 3D spatial and 4D spatiotemporal awareness.…

Visual navigation is essential for robotics and embodied AI. However, existing foundation models, particularly those with transformer decoders, suffer from high computational overhead and lack interpretability, limiting their deployment in…

To reconstruct the 3D geometry from calibrated images, learning-based multi-view stereo (MVS) methods typically perform multi-view depth estimation and then fuse depth maps into a mesh or point cloud. To improve the computational…

Embodied visual planning aims to enable manipulation tasks by imagining how a scene evolves toward a desired goal and using the imagined trajectories to guide actions. Video diffusion models, through their image-to-video generation…