相关论文: MUSE: Model-based Uncertainty-aware Similarity Est…

Recent advances in object segmentation have demonstrated that deep neural networks excel at object segmentation for specific classes in color and depth images. However, their performance is dictated by the number of classes and objects used…

Taxonomy Expansion, which models complex concepts and their relations, can be formulated as a set representation learning task. The generalization of set, fuzzy set, incorporates uncertainty and measures the information within a semantic…

We propose a new zero-shot Event Detection method by Multi-modal Distributional Semantic embedding of videos. Our model embeds object and action concepts as well as other available modalities from videos into a distributional semantic…

High fidelity representation of shapes with arbitrary topology is an important problem for a variety of vision and graphics applications. Owing to their limited resolution, classical discrete shape representations using point clouds, voxels…

Grasping unknown objects from a single view has remained a challenging topic in robotics due to the uncertainty of partial observation. Recent advances in large-scale models have led to benchmark solutions such as GraspNet-1Billion.…

6D object pose estimation, which predicts the transformation of an object relative to the camera, remains challenging for unseen objects. Existing approaches typically rely on explicitly constructing feature correspondences between the…

Deep neural networks have set the state-of-the-art in computer vision tasks such as bounding box detection and semantic segmentation. Object detectors and segmentation models assign confidence scores to predictions, reflecting the model's…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

Zero-shot learning extends the conventional object classification to the unseen class recognition by introducing semantic representations of classes. Existing approaches predominantly focus on learning the proper mapping function for…

This paper proposes a universal framework, called OVE6D, for model-based 6D object pose estimation from a single depth image and a target object mask. Our model is trained using purely synthetic data rendered from ShapeNet, and, unlike most…

Zero-shot point cloud segmentation aims to make deep models capable of recognizing novel objects in point cloud that are unseen in the training phase. Recent trends favor the pipeline which transfers knowledge from seen classes with labels…

We study the challenging problem of unsupervised multi-object segmentation on single images. Existing methods, which rely on image reconstruction objectives to learn objectness or leverage pretrained image features to group similar pixels,…

The two-stage object pose estimation paradigm first detects semantic keypoints on the image and then estimates the 6D pose by minimizing reprojection errors. Despite performing well on standard benchmarks, existing techniques offer no…

Millimeter-Wave (mmWave) radar can enable high-resolution human pose estimation with low cost and computational requirements. However, mmWave data point cloud, the primary input to processing algorithms, is highly sparse and carries…

We present FoundationPose, a unified foundation model for 6D object pose estimation and tracking, supporting both model-based and model-free setups. Our approach can be instantly applied at test-time to a novel object without fine-tuning,…

Generalized Category Discovery (GCD) is a classification task that aims to classify both base and novel classes in unlabeled images, using knowledge from a labeled dataset. In GCD, previous research overlooks scene information or treats it…

Establishing reliable image correspondences is essential for many robotic vision problems. However, existing methods often struggle in challenging scenarios with large viewpoint changes or textureless regions, where incorrect cor-…

Scaling up model size and training data has advanced foundation models for instance-level perception, achieving state-of-the-art in-domain and zero-shot performance across object detection and segmentation. However, their high computational…

We present a learning approach for localization and segmentation of objects in an image in a manner that is robust to partial occlusion. Our algorithm produces a bounding box around the full extent of the object and labels pixels in the…

We present aMUSEd, an open-source, lightweight masked image model (MIM) for text-to-image generation based on MUSE. With 10 percent of MUSE's parameters, aMUSEd is focused on fast image generation. We believe MIM is under-explored compared…