相关论文: Differentiable Inverse Graphics for Zero-shot Scen…

Large language and vision models have been leading a revolution in visual computing. By greatly scaling up sizes of data and model parameters, the large models learn deep priors which lead to remarkable performance in various tasks. In this…

Training vision-based manipulation policies that are robust across diverse visual environments remains an important and unresolved challenge in robot learning. Current approaches often sidestep the problem by relying on invariant…

We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been the subject of extensive research. However, swiftly teaching a robot to grasp a novel target object in clutter remains challenging. This paper attempts…

In this paper we present an end-to-end deep learning framework to turn images that show dynamic content, such as vehicles or pedestrians, into realistic static frames. This objective encounters two main challenges: detecting all the dynamic…

Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

Inverse rendering aims to estimate physical attributes of a scene, e.g., reflectance, geometry, and lighting, from image(s). Inverse rendering has been studied primarily for single objects or with methods that solve for only one of the…

The goal of object-centric representation learning is to decompose visual scenes into a structured representation that isolates the entities. Recent successes have shown that object-centric representation learning can be scaled to…

We propose an approach to 3D reconstruction via inverse procedural modeling and investigate two variants of this approach. The first option consists in the fitting set of input parameters using a genetic algorithm. We demonstrate the…

Reliable perception during fast motion maneuvers or in high dynamic range environments is crucial for robotic systems. Since event cameras are robust to these challenging conditions, they have great potential to increase the reliability of…

Intrinsic image decomposition, which is an essential task in computer vision, aims to infer the reflectance and shading of the scene. It is challenging since it needs to separate one image into two components. To tackle this, conventional…

In the realm of robot-assisted minimally invasive surgery, dynamic scene reconstruction can significantly enhance downstream tasks and improve surgical outcomes. Neural Radiance Fields (NeRF)-based methods have recently risen to prominence…

Differentiable rendering is a very successful technique that applies to a Single-View 3D Reconstruction. Current renderers use losses based on pixels between a rendered image of some 3D reconstructed object and ground-truth images from…

This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vision-based control, eliminating the need for an explicit…

Urban scene reconstruction is critical for autonomous driving, enabling structured 3D representations for data synthesis and closed-loop testing. Supervised approaches rely on costly human annotations and lack scalability, while current…

Large-scale scene data is essential for training and testing in robot learning. Neural reconstruction methods have promised the capability of reconstructing large physically-grounded outdoor scenes from captured sensor data. However, these…

Today, most methods for image understanding tasks rely on feed-forward neural networks. While this approach has allowed for empirical accuracy, efficiency, and task adaptation via fine-tuning, it also comes with fundamental disadvantages.…

This paper studies the problem of generalized zero-shot learning which requires the model to train on image-label pairs from some seen classes and test on the task of classifying new images from both seen and unseen classes. Most previous…

In this work, we propose an inverse rendering model that estimates 3D shape, spatially-varying reflectance, homogeneous subsurface scattering parameters, and an environment illumination jointly from only a pair of captured images of a…