14 accepted papers
Multimodal large language models (MLLMs) achieve strong performance across diverse tasks but remain prone to hallucinations, where outputs are not grounded in visual inputs. This issue can be attributed to two main biases: text-visual bias, the overreliance on prompts and prior outputs, and co-occur
Large language models (LLMs) are increasingly used in qualitative data analysis, yet the field lacks a shared way to state what kinds of process LLM-based pipelines intend to produce. This position paper proposes an explicit specification perspective: separating meaning-making from modeling, and mak…
Multiview pedestrian detection typically involves two stages: human modeling and pedestrian localization. Human modeling represents pedestrians in 3D space by fusing multiview information, making its quality crucial for detection accuracy. However, existing methods often introduce noise and have low…
3D modeling of highly reflective objects remains challenging due to strong view-dependent appearances. While previous SDF-based methods can recover high-quality meshes, they are often time-consuming and tend to produce over-smoothed surfaces. In contrast, 3D Gaussian Splatting (3DGS) offers the adva…
Performing acrobatic maneuvers involving long aerial phases, such as precise dives or multiple backflips from significant heights, remains an open challenge in legged robot autonomy. Such aggressive motions often require accurate state predictions over long horizons with multiple contacts and extend
Achieving precise target jumping with legged robots poses a significant challenge due to the long flight phase and the uncertainties inherent in contact dynamics and hardware. Forcefully attempting these agile motions on hardware could result in severe failures and potential damage. Motivated by thi
Multi-view 3D reconstruction remains a core challenge in computer vision. Recent methods, such as DUSt3R and its successors, directly regress pointmaps from image pairs without relying on known scene geometry or camera parameters. However, the performance of these models is constrained by the divers…
Achieving both target accuracy and robustness in dynamic maneuvers with long flight phases, such as high or long jumps, has been a significant challenge for legged robots. To address this challenge, we propose a novel learning-based control approach consisting of model learning and model predictive
In this paper we address the problem of efficient point searching and sampling for volume neural rendering. Within this realm two typical approaches are employed: rasterization and ray tracing. The rasterization-based methods enable real-time rendering at the cost of increased memory and lower fidel…
This paper presents a novel aerial-to-ground feature aggregation strategy tailored for the task of cross-view image-based geo-localization. Conventional vision-based methods heavily rely on matching ground-view image features with a pre-recorded image database often through establishing planar homog…
Reliable segmentation of road lines and markings is critical to autonomous driving. Our work is motivated by the observations that road lines and markings are (1) frequently occluded in the presence of moving vehicles, shadow, and glare and (2) highly structured with low intra-class shape variance a…
In this paper, we define a new problem of recovering the 3D geometry of an object confined in a transparent enclosure. We also propose a novel method for solving this challenging problem. Transparent enclosures pose challenges of multiple light reflections and refractions at the interface between di…
Performing highly agile acrobatic motions with a long flight phase requires perfect timing, high accuracy, and coordination of the full-body motion. To address these challenges, we present a novel approach on timings and trajectory optimization framework for legged robots performing aggressive 3D ju…
Water bodies, such as puddles and flooded areas, on and off road pose significant risks to autonomous cars. Detecting water from moving camera is a challenging task as water surface is highly refractive, and its appearance varies with viewing angle, surrounding scene, weather conditions. In this pap…