相关论文: HeRO: Hierarchical 3D Semantic Representation for …

Depth sensing is an important problem for 3D vision-based robotics. Yet, a real-world active stereo or ToF depth camera often produces noisy and incomplete depth which bottlenecks robot performances. In this work, we propose D3RoMa, a…

Prevalent human-object interaction (HOI) detection approaches typically leverage large-scale visual-linguistic models to help recognize events involving humans and objects. Though promising, models trained via contrastive learning on…

Many 3D tasks such as pose alignment, animation, motion transfer, and 3D reconstruction rely on establishing correspondences between 3D shapes. This challenge has recently been approached by pairwise matching of semantic features from…

3D hand-object interaction data is scarce due to the hardware constraints in scaling up the data collection process. In this paper, we propose HOIDiffusion for generating realistic and diverse 3D hand-object interaction data. Our model is a…

Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…

Accurate future video prediction requires both high visual fidelity and consistent scene semantics, particularly in complex dynamic environments such as autonomous driving. We present Re2Pix, a hierarchical video prediction framework that…

Human-Object Interaction (HOI) detection aims to simultaneously localize human-object pairs and recognize their interactions. While recent two-stage approaches have made significant progress, they still face challenges due to incomplete…

The field of portrait image animation, driven by speech audio input, has experienced significant advancements in the generation of realistic and dynamic portraits. This research delves into the complexities of synchronizing facial movements…

Cross-modal alignment is an effective approach to improving visual classification. Existing studies typically enforce a one-step mapping that uses deep neural networks to project the visual features to mimic the distribution of textual…

We propose a new policy representation based on score-based diffusion models (SDMs). We apply our new policy representation in the domain of Goal-Conditioned Imitation Learning (GCIL) to learn general-purpose goal-specified policies from…

With the rapid development of the warehousing and logistics industries, the packing of goods has gradually attracted the attention of academia and industry. The packing of footwear products is a typical representative paired-item packing…

Recently, a number of competitive methods have tackled unsupervised representation learning by maximising the mutual information between the representations produced from augmentations. The resulting representations are then invariant to…

Hierarchical structures of motion exist across research fields, including computer vision, graphics, and robotics, where complex dynamics typically arise from coordinated interactions among simpler motion components. Existing methods to…

Category-level object pose estimation, aiming to predict the 6D pose and 3D size of objects from known categories, typically struggles with large intra-class shape variation. Existing works utilizing mean shapes often fall short of…

Latest diffusion models have shown promising results in category-level 6D object pose estimation by modeling the conditional pose distribution with depth image input. The existing methods, however, suffer from slow convergence during…

One of the mainstream schemes for 2D human pose estimation (HPE) is learning keypoints heatmaps by a neural network. Existing methods typically improve the quality of heatmaps by customized architectures, such as high-resolution…

The performance of leaning-based perception algorithms suffer when deployed in out-of-distribution and underrepresented environments. Outdoor robots are particularly susceptible to rapid changes in visual scene appearance due to dynamic…

3D Scene Graphs (3DSGs) constitute a powerful representation of the physical world, distinguished by their abilities to explicitly model the complex spatial, semantic, and functional relationships between entities, rendering a foundational…

Despite strong results on recognition and segmentation, current 3D visual pre-training methods often underperform on robotic manipulation. We attribute this gap to two factors: the lack of state-action-state dynamics modeling and the…

Diffusion policies have demonstrated strong performance in generative modeling, making them promising for robotic manipulation guided by natural language instructions. However, generalizing language-conditioned diffusion policies to…