相关论文: From Pairs to Sequences: Track-Aware Policy Gradie…

Reinforcement learning (RL) has become a central post-training paradigm for large language models (LLMs), but its performance is highly sensitive to the quality of training problems. This sensitivity stems from the non-stationarity of RL:…

Monocular 3D object detection is well-known to be a challenging vision task due to the loss of depth information; attempts to recover depth using separate image-only approaches lead to unstable and noisy depth estimates, harming 3D…

It remains a huge challenge to design effective and efficient trackers under complex scenarios, including occlusions, illumination changes and pose variations. To cope with this problem, a promising solution is to integrate the temporal…

Inspired by the success of DeepSeek-R1, we explore the potential of rule-based reinforcement learning (RL) in MLLM post-training for perception policy learning. While promising, our initial experiments reveal that incorporating a thinking…

Existing progress in object keypoint estimation primarily benefits from the conventional supervised learning paradigm based on numerous data labeled with pre-defined keypoints. However, these well-trained models can hardly detect the…

Intelligent vehicles of the future must be capable of understanding and navigating safely through their surroundings. Camera-based vehicle systems can use keypoints as well as objects as low- and high-level landmarks for GNSS-independent…

Image-based reinforcement learning (RL) faces significant challenges in generalization when the visual environment undergoes substantial changes between training and deployment. Under such circumstances, learned policies may not perform…

This paper presents a novel keypoints-based attention mechanism for visual recognition in still images. Deep Convolutional Neural Networks (CNNs) for recognizing images with distinctive classes have shown great success, but their…

A number of computer vision tasks exploit a succinct representation of the visual content in the form of sets of local features. Given an input image, feature extraction algorithms identify a set of keypoints and assign to each of them a…

We introduce a novel CNN-based feature point detector - GLAMpoints - learned in a semi-supervised manner. Our detector extracts repeatable, stable interest points with a dense coverage, specifically designed to maximize the correct matching…

Keypoint detector and descriptor are two main components of point cloud registration. Previous learning-based keypoint detectors rely on saliency estimation for each point or farthest point sample (FPS) for candidate points selection, which…

In 3D Referring Expression Segmentation (3D-RES), the earlier approach adopts a two-stage paradigm, extracting segmentation proposals and then matching them with referring expressions. However, this conventional paradigm encounters…

For retinal image matching (RIM), we propose SuperRetina, the first end-to-end method with jointly trainable keypoint detector and descriptor. SuperRetina is trained in a novel semi-supervised manner. A small set of (nearly 100) images are…

We propose Q-learning with Adjoint Matching (QAM), a novel TD-based reinforcement learning (RL) algorithm that tackles a long-standing challenge in continuous-action RL: efficient optimization of an expressive diffusion or flow-matching…

In this paper, we study the representation of the shape and pose of objects using their keypoints. Therefore, we propose an end-to-end method that simultaneously detects 2D keypoints from an image and lifts them to 3D. The proposed method…

Since the PointNet was proposed, deep learning on point cloud has been the concentration of intense 3D research. However, existing point-based methods usually are not adequate to extract the local features and the spatial pattern of a point…

In this paper, we consider the problem of long-term point tracking, which requires consistent identification of points across multiple frames in a video, despite changes in appearance, lighting, perspective, and occlusions. We target online…

In video surveillance applications, person search is a challenging task consisting in detecting people and extracting features from their silhouette for re-identification (re-ID) purpose. We propose a new end-to-end model that jointly…

We study active object tracking, where a tracker takes visual observations (i.e., frame sequences) as input and produces the corresponding camera control signals as output (e.g., move forward, turn left, etc.). Conventional methods tackle…

We propose a new method for estimating the relative pose between two images, where we jointly learn keypoint detection, description extraction, matching and robust pose estimation. While our architecture follows the traditional pipeline for…