11 accepted papers
In dynamic environments such as warehouses, hospitals, and homes, robots must seamlessly transition between gross motion and precise manipulations to complete complex tasks. However, current Vision-Language-Action (VLA) frameworks, largely adapted from pre-trained Vision-Language Models (VLMs), ofte…
The resolution of voxel queries significantly influences the quality of view transformation in camera-based 3D occupancy prediction. However, computational constraints and the practical necessity for real-time deployment require smaller query resolutions, which inevitably leads to an information los…
Vision-Language Navigation (VLN) policies trained on offline datasets often exhibit degraded task performance when deployed in unfamiliar navigation environments at test time, where agents are typically evaluated without access to external interaction or feedback. Entropy minimization has emerged as…
Navigating in an unfamiliar environment during deployment poses a critical challenge for a vision-language navigation (VLN) agent. Yet, test-time adaptation (TTA) remains relatively underexplored in robotic navigation, leading us to the fundamental question: what are the key properties of TTA for on…
Recent LiDAR-based 3D Object Detection (3DOD) methods show promising results, but they often do not generalize well to target domains outside the source (or training) data distribution. To reduce such domain gaps and thus to make 3DOD models more generalizable, we introduce a novel unsupervised doma…
Recent advances in 3D object detection leveraging multi-view cameras have demonstrated their practical and economical value in various challenging vision tasks. However, typical supervised learning approaches face challenges in achieving satisfactory adaptation toward unseen and unlabeled target dat…
Predicting and constructing road geometric information (e.g., lane lines, road markers) is a crucial task for safe autonomous driving, while such static map elements can be repeatedly occluded by various dynamic objects on the road. Recent studies have shown significantly improved vectorized high-de…
3D object detection (3DOD) from multi-view images is an economically appealing alternative to expensive LiDAR-based detectors, but also an extremely challenging task due to the absence of precise spatial cues. Recent studies have leveraged the teacher-student paradigm for cross-modal distillation, w…
Distributional shifts in photometry and texture have been extensively studied for unsupervised domain adaptation, but their counterparts in optical distortion have been largely neglected. In this work, we tackle the task of unsupervised domain adaptation for semantic image segmentation where unknown…
A flexible surgical robot that can adjust its stiffness guarantees safe operation by satisfying both the high flexibility required when the robot approaches a surgical target and the more stiffness necessary for the end effector to perform surgical procedures. Therefore, this paper proposes a flexib
Collaborative filtering aims to predict unknown user ratings in a recommender system by collectively assessing known user preferences. In this paper, we first draw analogies between collaborative filtering and the pose estimation problem. Specifically, we recast the hand pose estimation problem as t…