18 accepted papers
Active scene reconstruction aims to autonomously recover the fine-grained appearance and structural details of a complex unknown scenes. Existing approaches based on 2D topological or voxel-based abstractions often scale poorly to large environments and rely heavily on handcrafted features and heuri…
Diffusion models are effective for waypoint prediction in visual navigation, but standard sampling and test time guidance can produce unsafe or inefficient trajectories when updates drift off the training manifold. We propose Fisher Preserving Guidance with Outer Product Span Projection, a training-…
We present HICNet, a reference-guided exposure correction framework. A lightweight, content-agnostic encoder distills each image into a compact illumination embedding capturing regional brightness, edge contrast, and higher-order luminance moments. The embedding difference between a source and its r…
Visual navigation requires the robot to reach a specified goal such as an image, based on a sequence of first-person visual observations. While recent learning-based approaches have made significant progress, they often focus on improving policy heads or decision strategies while relying on simplist
Object navigation for mobile robots typically assumes that targets are visible and paths are unobstructed. However, real-world scenarios often involve occluded targets like objects hidden behind doors or inside containers. Such scenarios require interactive navigation and manipulation by mobile mani…
Semi-supervised Federated Learning (SSFL) is a promising approach that allows clients to collaboratively train a global model in the absence of their local data labels. The key step of SSFL is the re-labeling where each client adopts two types of available models, namely global and local models, to…
Federated Learning (FL) suffers from severe performance degradation due to the data heterogeneity among clients. Existing works reveal that the fundamental reason is that data heterogeneity can cause client drift where the local model update deviates from the global one, and thus they usually tackle…
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 are prone to system errors due to their multi-modular design
Recent advancements in diffusion-based imitation learning, which shows impressive performance in modeling multimodal distributions and training stability, have led to substantial progress in various robot learning tasks. In visual navigation, previous diffusion-based policies typically generate acti…
Deep Neuro-Fuzzy Inference Systems (DNFIS) seamlessly fuse neural networks with the fuzzy inference system enabling intricate decision-making and knowledge representation, while upholding a commendable degree of adaptability and interpretability. However, the challenge of privacy-preserving inferenc…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware and software platform where the compact 20-DoF hand, robus…
Stereo video synthesis from monocular input is challenging in spatial computing and virtual reality due to the lack of high-quality stereo video pairs for training and the difficulty of maintaining spatio-temporal consistency between frames. Existing methods primarily address these issues by directl…
Recent advances in image deraining have focused on training powerful models on mixed multiple datasets comprising diverse rain types and backgrounds. However, this approach tends to overlook the inherent differences among rainy images, leading to suboptimal results. To overcome this limitation, we f…
Detecting 3D lane lines from images is a fundamental challenge and an ill-posed problem in autonomous driving. Existing methods are limited by scene robustness and computational efficiency. This paper introduces an innovative 3D lane detection method that addresses the challenges of lane detection i…
Ground segmentation is a fundamental task in the field of 3D perception using 3D LiDAR sensors. Several ground segmentation methods have been proposed, but they often suffer from mis-segmentation, especially missed detection, due to poor noise removal, unreasonable ground pre-blocking and lack of re
Discriminative representation is essential to keep a unique identifier for each target in Multiple object tracking (MOT). Some recent MOT methods extract features of the bounding box region or the center point as identity embeddings. However, when targets are occluded, these coarse-grained global re…
In the context of robotic high-precision soldering, we propose an image-based pin alignment control method based on active plastic deformation. The plastic deformation is a well-known failure mechanism in most situations, which includes a phenomenon that the objects do not return original state. Her…
Persistent cough is a symptom common to a number of respiratory disorders; however, reliable monitoring of cough frequency and cough severity over an extended period of time can be a challenge. Traditional methods involve subjective evaluation by care providers or patient self-reports. As an alterna…