10 accepted papers
Relation Extraction (RE) is a key task in table understanding, aiming to extract semantic relations between columns. However, complex tables with hierarchical headers are hard to obtain high-quality textual formats (e.g., Markdown) for input under practical scenarios like webpage screenshots and sca…
Generalization to novel object configurations and instances across diverse tasks and environments is a critical challenge in robotics. Keypoint-based representations have been proven effective as a succinct representation for capturing essential object features, and for establishing a reference fram
Recent advances in diffusion$/$flow-matching policies have enabled imitation learning of complex, multi-modal action trajectories. However, they are computationally expensive because they sample a *trajectory of trajectories*—a diffusion$/$flow trajectory of action trajectories. They discard interme…
Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multistep constraint reasoning. Task and Motion Planning (TAMP) approaches are suited for planning multi-step autonomous rob…
We introduce uncertainty-aware object instance segmentation (UncOS) and demonstrate its usefulness for embodied interactive segmentation. To deal with uncertainty in robot perception, we propose a method for generating a hypothesis distribution of object segmentation. We obtain a set of region-facto…
We present a strategy for designing and building very general robot manipulation systems using a general-purpose task-and-motion planner with both engineered and learned modules that estimate properties and affordances of unknown objects. Such systems are closed-loop policies that map from RGB image…
This paper studies the unsupervised cross-domain translation problem by proposing a generative framework, in which the probability distribution of each domain is represented by a generative cooperative network that consists of an energy-based model and a latent variable model. The use of generative…
This paper proposes the divergence triangle as a framework for joint training of a generator model, energy-based model and inference model. The divergence triangle is a compact and symmetric (anti-symmetric) objective function that seamlessly integrates variational learning, adversarial learning, wa…
Deep convolutional neural networks (CNNs) have made impressive progress in many video recognition tasks such as video pose estimation and video object detection. However, running CNN inference on video requires numerous computation and is usually slow. In this work, we propose a framework called Rec…
Human body part parsing, or human semantic part segmentation, is fundamental to many computer vision tasks. In conventional semantic segmentation methods, the ground truth segmentations are provided, and fully convolutional networks (FCN) are trained in an end-to-end scheme. Although these methods h…