相关论文: VoMP: Predicting Volumetric Mechanical Property Fi…

In this work, we propose a unified framework, called Visual Reasoning with Differ-entiable Physics (VRDP), that can jointly learn visual concepts and infer physics models of objects and their interactions from videos and language. This is…

Molecular Property Prediction (MPP) is vital for drug discovery, crop protection, and environmental science. Over the last decades, diverse computational techniques have been developed, from using simple physical and chemical properties and…

Recent volumetric 3D reconstruction methods can produce very accurate results, with plausible geometry even for unobserved surfaces. However, they face an undesirable trade-off when it comes to multi-view fusion. They can fuse all available…

Large pre-trained vision-language models (VLMs) offer a promising approach to leveraging human language for enhancing downstream tasks. However, VLMs such as CLIP face significant limitation: its performance is highly sensitive to prompt…

Recently, driven by advancements in Multimodal Large Language Models (MLLMs), Vision Language Action Models (VLAMs) are being proposed to achieve better performance in open-vocabulary scenarios for robotic manipulation tasks. Since…

Maintaining an up-to-date map to reflect recent changes in the scene is very important, particularly in situations involving repeated traversals by a robot operating in an environment over an extended period. Undetected changes may cause a…

Can computers perceive the physical properties of objects solely through vision? Research in cognitive science and vision science has shown that humans excel at identifying materials and estimating their physical properties based purely on…

The generation of high-fidelity view synthesis is essential for robotic navigation and interaction but remains challenging, particularly in indoor environments and real-time scenarios. Existing techniques often require significant…

Estimating the material property field of 3D assets is critical for physics-based simulation, robotics, and digital twin generation. Existing vision-based approaches are either too expensive and slow or rely on 3D information. We present…

Recently, Convolutional Neural Networks have shown promising results for 3D geometry prediction. They can make predictions from very little input data such as a single color image. A major limitation of such approaches is that they only…

Simulations that produce three-dimensional data are ubiquitous in science, ranging from fluid flows to plasma physics. We propose a similarity model based on entropy, which allows for the creation of physically meaningful ground truth…

Monocular visual odometry (VO) is an important task in robotics and computer vision. Thus far, how to build accurate and robust monocular VO systems that can work well in diverse scenarios remains largely unsolved. In this paper, we propose…

The ability to model the underlying dynamics of visual scenes and reason about the future is central to human intelligence. Many attempts have been made to empower intelligent systems with such physical understanding and prediction…

The safe operation of autonomous vehicles (AVs) is highly dependent on their understanding of the surroundings. For this, the task of 3D semantic occupancy prediction divides the space around the sensors into voxels, and labels each voxel…

Roadside vision centric 3D object detection has received increasing attention in recent years. It expands the perception range of autonomous vehicles, enhances the road safety. Previous methods focused on predicting per-pixel height rather…

Parametric human body models play a crucial role in computer graphics and vision, enabling applications ranging from human motion analysis to understanding human-environment interactions. Traditionally, these models use surface meshes,…

In logistics, the ability to quickly compute and execute pick-and-place motions from bins is critical to increasing productivity. We present Bin-Optimized Motion Planning (BOMP), a motion planning framework that plans arm motions for a…

Deformable object manipulation remains a challenging task in robotics research. Conventional techniques for parameter inference and state estimation typically rely on a precise definition of the state space and its dynamics. While this is…

Probabilistic volumetric mapping (PVM) represents a 3D environmental map for an autonomous robotic navigational task. A popular implementation such as Octomap is widely used in the robotics community for such a purpose. The Octomap relies…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…