15 accepted papers
Denoising higher-resolution latents using a pre-trained U-Net often results in repetitive and disordered image patterns. In this work, we are motivated to reveal the intrinsic cause of such pattern disruption in high-resolution image generation. Through theoretical analysis and empirical studies, we
Leveraging pre-trained Diffusion Transformers (DiTs) for high-resolution (HR) image synthesis often leads to spatial layout collapse and degraded texture fidelity. Prior work mitigates these issues with complex pipelines that first perform a base-resolution (i.e., training-resolution) denoising proc
In robotics applications, event cameras provide low-latency and high-dynamic-range sensing by asynchronously detecting brightness changes, making them well-suited for capturing fast motions and subtle cues in dynamic environments. However, most existing Spiking Neural Network (SNN)-based methods enh
Recent advancements in category-agnostic pose estimation have focused on developing a unified model capable of localizing keypoint coordinates across arbitrary categories, which enables robots to accurately interact with diverse objects by understanding their poses. While existing methods predominan
Robotic loco-manipulation tasks often involve contact-rich interactions with the environment, requiring the joint modeling of contact force and robot position. However, recent visuomotor policies often focus solely on position or force control, overlooking their integration. In this work, we propose…
Sound Event Detection (SED) plays a vital role in comprehending and perceiving acoustic scenes. Previous methods have demonstrated impressive capabilities. However, they are deficient in learning features of complex scenes from heterogeneous dataset. In this paper, we introduce a novel dual-branch a…
Human action recognition is a crucial task for intelligent robotics, particularly within the context of human-robot collaboration research. In self-supervised skeleton-based action recognition, the mask-based reconstruction paradigm learns the spatial structure and motion patterns of the skeleton by
Multimodal Large Language Models (MLLMs) have demonstrated significant success in visual understanding tasks. However, challenges persist in adapting these models for video comprehension due to the large volume of data and temporal complexity. Existing Video-LLMs using uniform frame sampling often s…
The significant advancements in embodied vision navigation have raised concerns about its susceptibility to adversarial attacks exploiting deep neural networks. Investigating the adversarial robustness of embodied vision navigation is crucial, especially given the threat of 3D physical attacks that
The "lifting from 2D pose" method has been the dominant approach to 3D Human Pose Estimation (3DHPE) due to the powerful visual analysis ability of 2D pose estimators. Widely known, there exists a depth ambiguity problem when estimating solely from 2D pose, where one 2D pose can be mapped to multipl…
3D Visual Grounding (3D VG) is a fundamental task in embodied intelligence, which entails robots interpreting natural language descriptions to locate objects within 3D environments. The complexity of this task emerges as robots perceive the spatial relationships of objects differently depending on t
Audio-visual question answering (AVQA) is a challenging task that requires multistep spatio-temporal reasoning over multimodal contexts. Recent works rely on elaborate target-agnostic parsing of audio-visual scenes for spatial grounding while mistreating audio and video as separate entities for temp…
Semantic segmentation is of great value to autonomous driving and many robotic applications, while it highly depends on costly and time-consuming pixel-level annotation. To make full use of unlabeled data, this work proposes a deep tri-training framework (dubbed DTT) to utilize labeled along with un
Accurate position feedback in a wide range is critical for medical microrobotics and robot-assisted examinations, such as colonoscopy, bronchoscopy and capsule endoscopy examination. Among the many modalities of positioning feedback, magnetic tracking is a preferable method due to the unique advanta…
Uncertainty estimation for point cloud semantic segmentation is to quantify the confidence degree for the predicted label of points, which is essential for decision-making tasks. This paper proposes a neighborhood spatial aggregation based method, NSA-MC dropout, to achieve efficient uncertainty est…