48 accepted papers
Understanding interacting hand-object from monocular videos is crucial for immersive and dexterous interactions in AR/VR and robotic applications. However, existing monocular reconstruction methods primarily assume rigid grasping and static object geometry. When applied to articulated manipulations,
The evaluation of code-generating Large Language Models (LLMs) is fundamentally constrained by two intertwined challenges: a reliance on static, easily contaminated problem sources and the use of superficial, low-rigor testing. This paper introduces a new benchmark construction philosophy, Dual Scal…
Outliers have emerged as a fundamental bottleneck in preserving accuracy for low-precision large models, particularly within Mixture-of-Experts (MoE) architectures that are increasingly central to large-scale language modeling. Under post-training quantization (PTQ), these outliers induce substantia…
Efficient exploration remains a key challenge in deep reinforcement learning, especially for embodied agents operating in realistic environments with high-dimensional observations and complex dynamics. Recent latent exploration methods define bonuses in a learned latent space, but often struggle in …
In reinforcement learning (RL) for robotic manipulation, the Decision Transformer (DT) has emerged as an effective framework for addressing long-horizon tasks. However, DT’s performance depends heavily on the coverage of collected experiences. Without an active exploration mechanism, standard DT rel…
We propose Exact-GS, a novel mathematically rigorous and accurate 3D Gaussian Splatting model designed to perform 3D X-ray computed tomography (CT) reconstruction and novel view synthesis. Recently, 3D Gaussian Splatting achieved considerable progress at 3D representation. Unfortunately, due to the
Prior dual-stream methods with the feature interaction mechanism have achieved remarkable performance in single image reflection removal (SIRR). However, they often struggle with (1) semantic understanding gap between the features of pre-trained models and those of reflection removal models, and (2)
We introduce GFreeDet2, which leverages Gaussian Splatting and foundation models to address RGB-based model-free 2D detection and 6D detection of unseen objects. GFreeDet2 reconstructs 3D Gaussian object models from multi-view RGB references, enabling efficient model-free detection without relying o…
The learning order of semantic classes significantly impacts unsupervised domain adaptation for semantic segmentation, especially under adverse weather conditions. Most existing curricula rely on handcrafted heuristics (e.g., fixed uncertainty metrics) and follow a static schedule, which fails to ad
Visualizations play a crucial part in effective communication of concepts and information. Recent advances in reasoning and retrieval augmented generation have enabled Large Language Models (LLMs) to perform deep research and generate comprehensive reports. Despite its progress, existing deep resear
Reconstructing humans and their surrounding environments in a globally consistent 4D space is essential for comprehensive perception. However, prior works typically assume single-view inputs or decouple humans, scenes, and cameras, making them unable to recover coherent geometry, stable motion, and
Effective modelling of uncertain information is crucial for quantifying uncertainty. Dempster–Shafer evidence (DSE) theory is a widely recognized approach for handling uncertain information. However, current methods often neglect the inherent a priori information within data during modelling, and im…
Over the last decade, significant efforts have been dedicated to designing efficient models for the challenge of ultra-high resolution (UHR) semantic segmentation. These models mainly follow the dual-stream architecture and generally fall into three subcategories according to the improvement objecti…
Recent advances in hand-object interaction modeling have employed implicit representations, such as Signed Distance Functions (SDF) and Neural Radiance Fields (NeRF) to reconstruct hands and objects with arbitrary topology and photo-realistic detail. However, these methods often rely on dense 3D sur…
Topic modeling is a powerful unsupervised tool for knowledge discovery. However, existing work struggles with generating limited-quality topics that are uninformative and incoherent, which hindering interpretable insights from managing textual data. In this paper, we improve the original variational
Over the last decade, many notable methods have emerged to tackle the computational resource challenge of the high resolution image recognition (HRIR). They typically focus on identifying and aggregating a few salient regions for classification, discarding sub-salient areas for low training consumpt…
3D hand pose estimation plays a critical role in various human-computer interaction tasks. Single-frame 3D hand pose estimation methods have poor temporal smoothness and are easily affected by self-occlusion, which severely impacts their practical applicability. Traditional joint-based sequential po…
Advancements in intelligent technologies have significantly improved navigation in complex traffic environments by enhancing environment perception and trajectory prediction for automated vehicles. However, current research often overlooks the joint reasoning of scenario agents and lacks explainabil
Realistic scene reconstruction in driving scenarios poses significant challenges due to fast-moving objects. Most existing methods rely on labor-intensive manual labeling of object poses to reconstruct dynamic objects in canonical space and move them based on these poses during rendering. While some…
Unseen object pose estimation methods often rely on CAD models or multiple reference views, making the onboarding stage costly. To simplify reference acquisition, we aim to estimate the unseen object's pose through a single unposed RGB-D reference image. While previous works leverage reference image…
Snake robots have showcased remarkable compliance and adaptability in their interaction with environments, mirroring the traits of their natural counterparts. While their hyper-redundant and high-dimensional characteristics add to this adaptability, they also pose great challenges to robot control.…
"Recent research has explored implicit representations, such as signed distance function (SDF), for interacting hand-object reconstruction. SDF enables modeling hand-held objects with arbitrary topology and overcomes the resolution limitations of parametric models, allowing for finer-grained reconst…
Sketch re-identification (Re-ID) seeks to match pedestrians' photos from surveillance videos with corresponding sketches. However, we observe that existing works still have two critical limitations: (i) cross- and intra-modality discrepancies hinder the extraction of modality-shared features, (ii) s…
"Cross-modality person re-identification (ReID) is a challenging task that aims to match cross-modality pedestrian images across multiple camera views. Existing methods are tailored to specific tasks and perform well for visible-infrared or visible-sketch ReID. However, the performance exhibits a no…
Pretrained Language Models (PLMs) are the de facto backbone of most state-of-the-art NLP systems. In this paper, we introduce a family of domain-specific pretrained PLMs for French, focusing on three important domains: transcribed speech, medicine, and law. We use a transformer architecture based on…
In this paper we present KP-RED a unified KeyPoint-driven REtrieval and Deformation framework that takes object scans as input and jointly retrieves and deforms the most geometrically similar CAD models from a pre-processed database to tightly match the target. Unlike existing dense matching based m…
Previous 3D hand pose estimation methods primarily rely on a single modality, either RGB or depth, and the comprehensive utilization of the dual modalities has not been extensively explored. RGB and depth data provide complementary information and thus can be fused to enhance the robustness of 3D ha…
Quadrupedal robots have emerged as versatile agents capable of locomoting and manipulating in complex environments. Traditional designs typically rely on the robot’s inherent body parts or incorporate top-mounted arms for manipulation tasks. However, these configurations may limit the robot’s operat…
We investigate the problem of transferring an expert policy from a source robot to multiple different robots. To solve this problem, we propose a method named *Meta-Evolve* that uses continuous robot evolution to efficiently transfer the policy to each target robot through a set of tree-structured e…
In robotic vision, a de-facto paradigm is to learn in simulated environments and then transfer to real-world applications, which poses an essential challenge in bridging the sim-to-real domain gap. While mainstream works tackle this problem in the RGB domain, we focus on depth data synthesis and dev…
Accurately estimating 3D hand pose is crucial for understanding how humans interact with the world. Despite remarkable progress, existing methods often struggle to generate plausible hand poses when the hand is heavily occluded or blurred. In videos, the movements of the hand allow us to observe var…
We investigate the problem of transferring an expert policy from a source robot to multiple different robots. To solve this problem, we propose a method name Meta-Evolve that uses continuous robot evolution to efficiently transfer the policy to a newly defined meta robot and then to each target robo…
Learning discriminative features from very few labeled samples to identify novel classes has received increasing attention in skeleton-based action recognition. Existing works aim to learn action-specific embeddings by exploiting either intra-skeleton or inter-skeleton spatial associations, which ma…
RGB and depth modalities provide complementary information, which can be effectively utilized to improve the performance of hand detection in the wild. Most existing fusion-based methods model the channel-wise or spatial-wise cross-modal correlation to exploit the complementary RGB-D information, in…
"While category-level 9DoF object pose estimation has emerged recently, previous correspondence-based or direct regression methods are both limited in accuracy due to the huge intra-category variances in object shape and color, etc. Orthogonal to them, this work presents a category-level object pose…
We introduce Ego4D, a massive-scale egocentric video dataset and benchmark suite. It offers 3,670 hours of daily-life activity video spanning hundreds of scenarios (household, outdoor, workplace, leisure, etc.) captured by 931 unique camera wearers from 74 worldwide locations and 9 different countri…
The ability to learn from human demonstration endows robots with the ability to automate various tasks. However, directly learning from human demonstration is challenging since the structure of the human hand can be very different from the desired robot gripper. In this work, we show that manipulati…
A popular paradigm in robotic learning is to train a policy from scratch for every new robot. This is not only inefficient but also often impractical for complex robots. In this work, we consider the problem of transferring a policy across two different robots with significantly different parameters…
A key component of understanding hand-object interactions is the ability to identify the active object -- the object that is being manipulated by the human hand. In order to accurately localize the active object, any method must reason using information encoded by each image pixel, such as whether i…
We present KDFNet, a novel method for 6D object pose estimation from RGB images. To handle occlusion, many recent works have proposed to localize 2D keypoints through pixel-wise voting and solve a Perspective-n-Point (PnP) problem for pose estimation, which achieves leading performance. However, suc…
We present RePOSE, a fast iterative refinement method for 6D object pose estimation. Prior methods perform refinement by feeding zoomed-in input and rendered RGB images into a CNN and directly regressing an update of a refined pose. Their runtime is slow due to the computational cost of CNN, which i…
We present a large-scale stereo RGB image object pose estimation dataset named the StereOBJ-1M dataset. The dataset is designed to address challenging cases such as object transparency, translucency, and specular reflection, in addition to the common challenges of occlusion, symmetry, and variations…
Manipulating articulated objects requires multiple robot arms in general. It is challenging to enable multiple robot arms to collaboratively complete manipulation tasks on articulated objects. In this paper, we present V-MAO, a framework for learning multi-arm manipulation of articulated objects. Ou…
Estimating the 3D pose of desktop objects is crucial for applications such as robotic manipulation. Many existing approaches to this problem require a depth map of the object for both training and prediction, which restricts them to opaque, lambertian objects that produce good returns in an RGBD sen…
Many applications in robotics and human-computer interaction can benefit from understanding 3D motion of points in a dynamic environment, widely noted as scene flow. While most previous methods focus on stereo and RGB-D images as input, few try to estimate scene flow directly from point clouds. In t…
Correspondences between frames encode rich information about dynamic content in videos. However, it is challenging to effectively capture and learn those due to their irregular structure and complex dynamics. In this paper, we propose a novel neural network that learns video representations by aggre…
Understanding dynamic 3D environment is crucial for robotic agents and many other applications. We propose a novel neural network architecture called MeteorNet for learning representations for dynamic 3D point cloud sequences. Different from previous work that adopts a grid-based representation and…
Convolutional Neural Networks (CNNs) are computationally intensive, which limits their application on mobile devices. Their energy is dominated by the number of multiplies needed to perform the convolutions. Winograd’s minimal filtering algorithm (Lavin, 2015) and network pruning (Han et al., 2015)…