18 accepted papers
Diffusion priors have been used for blind face restoration (BFR) by fine-tuning diffusion models (DMs) on restoration datasets to recover low-quality images. However, the naive application of DMs presents several key limitations. (i) The diffusion prior has inferior semantic consistency (e.g., ID,…
Humanoid robots derive much of their dexterity from hyper-dexterous whole-body movements, enabling tasks that require a large operational workspace—such as picking objects off the ground. However, achieving these capabilities on real humanoids remains challenging due to their high degrees of freedom…
Teleoperation is a crucial tool for collecting human demonstrations, but controlling robots with bimanual dexterous hands remains a challenge. Existing teleoperation systems struggle to handle the complexity of coordinating two hands for intricate manipulations. We introduce Bunny-VisionPro, a real-
Recent advances in Text-to-Image (T2I) diffusion models have transformed image generation, enabling significant progress in stylized generation using only a few style reference images. However, current diffusion-based methods struggle with \textit{fine-grained} style customization due to challenges…
Face aging has become a crucial task in computer vision, with applications ranging from entertainment to healthcare. However, existing methods struggle with achieving a realistic and seamless transformation across the entire lifespan, especially when handling large age gaps or extreme head poses. Th…
Training manipulation policies for humanoid robots with diverse data enhances their robustness and generalization across tasks and platforms. However, learning solely from robot demonstrations is labor-intensive, requiring expensive tele-operated data collection,n which is difficult to scale. This p…
Generative models based on flow matching offer significant potential for learning robot policies, particularly in generating high-dimensional, dexterous behaviors that are conditioned on diverse observations. In this work, we introduce ManiFlow, an advanced flow matching model specifically designed…
Personalized text-to-image diffusion models have grown popular for their ability to efficiently acquire a new concept from user-defined text descriptions and a few images. However, in the real world, a user may wish to personalize a model on multiple concepts but one at a time, with no access to the…
Humanoid robots require both robust lower-body locomotion and precise upper-body manipulation. While recent Reinforcement Learning (RL) approaches provide whole-body loco-manipulation policies, they lack precise manipulation with high DoF arms. In this paper, we propose decoupling upper-body control
Text-to-image generation models can create high-quality images from input prompts. However, they struggle to support the consistent generation of identity-preserving requirements for storytelling. Existing approaches to this problem typically require extensive training in large datasets or additiona…
Text-to-Image (T2I) diffusion models have made remarkable advancements in generative modeling; however, they face a trade-off between inference speed and image quality, posing challenges for efficient deployment. Existing distilled T2I models can generate high-fidelity images with fewer sampling ste…
Bimanual robotic manipulation with dexterous hands has a large potential workability and a wide workspace as it follows the most natural human workflow. Learning from human demonstrations has proven highly effective for learning a dexterous manipulation policy. To collect such data, teleoperation se…
One of the main drawback of diffusion models is the slow inference time for image generation. Among the most successful approaches to addressing this problem are distillation methods. However, these methods require considerable computational resources. In this paper, we take another approach to diff…
Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and scalable data. To achieve this, we propose an immersive teleopera…
Large-scale text-to-image generative models have been a ground-breaking development in generative AI, with diffusion models showing their astounding ability to synthesize convincing images following an input text prompt. The goal of image editing research is to give users control over the generated…
We propose a simple but effective source-free domain adaptation (SFDA) method. Treating SFDA as an unsupervised clustering problem and following the intuition that local neighbors in feature space should have more similar predictions than other features, we propose to optimize an objective of predic…
Domain adaptation (DA) aims to alleviate the domain shift between source domain and target domain. Most DA methods require access to the source data, but often that is not possible (e.g. due to data privacy or intellectual property). In this paper, we address the challenging source-free domain adapt…
Domain adaptation (DA) aims to transfer the knowledge learned from source domain to an unlabeled target domain. Some recent works tackle source-free domain adaptation (SFDA) where only source pre-trained model is available for adaptation to target domain. However those methods does not consider keep…