相关论文: Floor Plan-Guided Visual Navigation Incorporating …

Language-goal aerial navigation requires UAVs to localize targets in the complex outdoors, such as urban blocks based on textual instructions. The indoor methods are often hard to scale to urban scenes due to ambiguous objects, limited…

Path planning is a fundamental capability for autonomous navigation of robotic wheelchairs. With the impressive development of deep-learning technologies, imitation learning-based path planning approaches have achieved effective results in…

Diffusion policies (DP) have demonstrated significant potential in visual navigation by capturing diverse multi-modal trajectory distributions. However, standard imitation learning (IL), which most DP methods rely on for training, often…

Generative models have recently undergone significant advancement due to the diffusion models. The success of these models can be often attributed to their use of guidance techniques, such as classifier or classifier-free guidance, which…

Manipulating transparent objects presents significant challenges due to the complexities introduced by their reflection and refraction properties, which considerably hinder the accurate estimation of their 3D shapes. To address these…

This paper introduces innovative solutions to enhance spatial controllability in diffusion models reliant on text queries. We first introduce vision guidance as a foundational spatial cue within the perturbed distribution. This…

Existing language-driven embodied navigation paradigms face challenges in functional buildings (FBs) with highly similar features, as they lack the ability to effectively utilize priori spatial knowledge. To tackle this issue, we propose a…

Focus based methods have shown promising results for the task of depth estimation. However, most existing focus based depth estimation approaches depend on maximal sharpness of the focal stack. Out of focus information in the focal stack…

This work introduces GeoDirDock (GDD), a novel approach to molecular docking that enhances the accuracy and physical plausibility of ligand docking predictions. GDD guides the denoising process of a diffusion model along geodesic paths…

This paper presents an investigation into the estimation of optical and scene flow using RGBD information in scenarios where the RGB modality is affected by noise or captured in dark environments. Existing methods typically rely solely on…

Robust gait recognition requires highly discriminative representations, which are closely tied to input modalities. While binary silhouettes and skeletons have dominated recent literature, these 2D representations fall short of capturing…

Segmentation of objects in a video is challenging due to the nuances such as motion blurring, parallax, occlusions, changes in illumination, etc. Instead of addressing these nuances separately, we focus on building a generalizable solution…

Depth-aware panoptic segmentation is an emerging topic in computer vision which combines semantic and geometric understanding for more robust scene interpretation. Recent works pursue unified frameworks to tackle this challenge but mostly…

The Object Goal Navigation (ObjectNav) task challenges agents to locate a specified object in an unseen environment by imagining unobserved regions of the scene. Prior approaches rely on deterministic and discriminative models to complete…

We propose a new Group Feature Selection method for Discriminative Correlation Filters (GFS-DCF) based visual object tracking. The key innovation of the proposed method is to perform group feature selection across both channel and spatial…

Image outpainting technology generates visually plausible content regardless of authenticity, making it unreliable to be applied in practice. Thus, we propose a reliable image outpainting task, introducing the sparse depth from LiDARs to…

Owing to the difficulties of mining spatial-temporal cues, the existing approaches for video salient object detection (VSOD) are limited in understanding complex and noisy scenarios, and often fail in inferring prominent objects. To…

Planning with pretrained diffusion models has emerged as a promising approach for solving test-time guided control problems. Standard gradient guidance typically performs optimally under convex, differentiable reward landscapes. However, it…

This work studies the problem of object goal navigation which involves navigating to an instance of the given object category in unseen environments. End-to-end learning-based navigation methods struggle at this task as they are ineffective…

We present an active mapping system that plans for both long-horizon exploration goals and short-term actions using a 3D Gaussian Splatting (3DGS) representation. Existing methods either do not take advantage of recent developments in…