相关论文: ObjView-Bench: Rethinking Difficulty and Deploymen…

Active object reconstruction is crucial for many robotic applications. A key aspect in these scenarios is generating object-specific view configurations to obtain informative measurements for reconstruction. One-shot view planning enables…

Current Large Language Models have achieved Olympiad-level logic, yet Vision-Language Models paradoxically falter on elementary spatial tasks like block counting. This capability mismatch reveals a critical ``spatial intelligence gap,''…

Object-centric learning (OCL) aims to learn structured scene representations that support compositional generalization and robustness to out-of-distribution (OOD) data. However, OCL models are often not evaluated regarding these goals.…

3D scene understanding is an important task, and there has been a recent surge of research interest in aligning 3D representations of point clouds with text to empower embodied AI. However, due to the lack of comprehensive 3D benchmarks,…

Nonprehensile actions such as pushing are crucial for addressing multi-object rearrangement problems. Many traditional methods generate robot-centric actions, which differ from intuitive human strategies and are typically inefficient. To…

Active object reconstruction using autonomous robots is gaining great interest. A primary goal in this task is to maximize the information of the object to be reconstructed, given limited on-board resources. Previous view planning methods…

Completely capturing the three-dimensional (3D) data of an object is essential in industrial and robotic applications. The task of next-best-view (NBV) planning is to calculate the next optimal viewpoint based on the current data, gradually…

Vision-language instruction-tuning models have recently achieved significant performance improvements. In this work, we discover that large-scale 3D parallel training on those models leads to an imbalanced computation load across different…

Robotic planning systems model spatial relations in detail as these are needed for manipulation tasks. In contrast to this, other physical attributes of objects and the effect of devices are usually oversimplified and expressed by abstract…

Variants of accuracy and precision are the gold-standard by which the computer vision community measures progress of perception algorithms. One reason for the ubiquity of these metrics is that they are largely task-agnostic; we in general…

Object reconstruction and inspection tasks play a crucial role in various robotics applications. Identifying paths that reveal the most unknown areas of the object is paramount in this context, as it directly affects reconstruction…

Multi-view 3D object detection is becoming popular in autonomous driving due to its high effectiveness and low cost. Most of the current state-of-the-art detectors follow the query-based bird's-eye-view (BEV) paradigm, which benefits from…

Developing high-performing, yet interpretable models remains a critical challenge in modern AI. Concept-based models (CBMs) attempt to address this by extracting human-understandable concepts from a global encoding (e.g., image encoding)…

Machine learning in production needs to balance multiple objectives: This is particularly evident in ranking or recommendation models, where conflicting objectives such as user engagement, satisfaction, diversity, and novelty must be…

The ability to understand the ways to interact with objects from visual cues, a.k.a. visual affordance, is essential to vision-guided robotic research. This involves categorizing, segmenting and reasoning of visual affordance. Relevant…

The past few years have witnessed the rapid development of vision-centric 3D perception in autonomous driving. Although the 3D perception models share many structural and conceptual similarities, there still exist gaps in their feature…

Geometric problem solving constitutes a critical branch of mathematical reasoning, requiring precise analysis of shapes and spatial relationships. Current evaluations of geometric reasoning in vision-language models (VLMs) face limitations,…

An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…

Object reconstruction is relevant for many autonomous robotic tasks that require interaction with the environment. A key challenge in such scenarios is planning view configurations to collect informative measurements for reconstructing an…

Efficiently and completely capturing the three-dimensional data of an object is a fundamental problem in industrial and robotic applications. The task of next-best-view (NBV) planning is to infer the pose of the next viewpoint based on the…