相关论文: DiffVAS: Diffusion-Guided Visual Active Search in …

We propose CLAD -- a Constrained Latent Action Diffusion model for vision-language procedure planning in instructional videos. Procedure planning is the challenging task of predicting intermediate actions given a visual observation of a…

In offline reinforcement learning, value overestimation caused by out-of-distribution (OOD) actions significantly limits policy performance. Recently, diffusion models have been leveraged for their strong distribution-matching capabilities,…

Many visualization techniques have been created to explain the behavior of computer vision models, but they largely consist of static diagrams that convey limited information. Interactive visualizations allow users to more easily interpret…

The challenge of navigation in environments with dynamic objects continues to be a central issue in the study of autonomous agents. While predictive methods hold promise, their reliance on precise state information makes them less practical…

The flapping-wing aerial vehicle (FWAV) is a new type of flying robot that mimics the flight mode of birds and insects. However, FWAVs have their special characteristics of less load capacity and short endurance time, so that most existing…

Bimanual manipulation is crucial in robotics, enabling complex tasks in industrial automation and household services. However, it poses significant challenges due to the high-dimensional action space and intricate coordination requirements.…

Active visual perception refers to the ability of a system to dynamically engage with its environment through sensing and action, allowing it to modify its behavior in response to specific goals or uncertainties. Unlike passive systems that…

This paper aims to address the unsupervised video anomaly detection (VAD) problem, which involves classifying each frame in a video as normal or abnormal, without any access to labels. To accomplish this, the proposed method employs…

Image restoration aims to enhance low quality images, producing high quality images that exhibit natural visual characteristics and fine semantic attributes. Recently, the diffusion model has emerged as a powerful technique for image…

In this paper, we focus on the problem of efficiently locating a target object described with free-form language using a mobile robot equipped with vision sensors (e.g., an RGBD camera). Conventional active visual search predefines a set of…

In the realm of high-resolution (HR), fine-grained image segmentation, the primary challenge is balancing broad contextual awareness with the precision required for detailed object delineation, capturing intricate details and the finest…

Urban forests play a key role in enhancing environmental quality and supporting biodiversity in cities. Mapping and monitoring these green spaces are crucial for urban planning and conservation, yet accurately detecting trees is challenging…

Vision-Language Navigation in Continuous Environments (VLN-CE) requires agents to follow natural language instructions through free-form 3D spaces. Existing VLN-CE approaches typically use a two-stage waypoint planning framework, where a…

Camouflaged Object Detection (COD) is a challenging task in computer vision due to the high similarity between camouflaged objects and their surroundings. Existing COD methods primarily employ semantic segmentation, which suffers from…

In this paper, we address the problem of plausible object placement for the challenging task of realistic image composition. We propose DiffPop, the first framework that utilizes plausibility-guided denoising diffusion probabilistic model…

Visuomotor imitation learning policies enable robots to efficiently acquire manipulation skills from visual demonstrations. However, as scene complexity and visual distractions increase, policies that perform well in simple settings often…

Visual navigation, a fundamental challenge in mobile robotics, demands versatile policies to handle diverse environments. Classical methods leverage geometric solutions to minimize specific costs, offering adaptability to new scenarios but…

Humans can recognize the same actions despite large context and viewpoint variations, such as differences between species (walking in spiders vs. horses), viewpoints (egocentric vs. third-person), and contexts (real life vs movies). Current…

Pre-trained vision-language-action (VLA) models offer a promising foundation for generalist robot policies, but often produce brittle behaviors or unsafe failures when deployed zero-shot in out-of-distribution scenarios. We present…

Multi-view diffusion models have shown promise in 3D novel view synthesis, but most existing methods adopt a non-autoregressive formulation. This limits their applicability in world modeling, as they only support a fixed number of views and…