34 accepted papers
Vision-based reinforcement learning can benefit from object-centric scene representation, which factorizes the visual observation into individual objects and their attributes, such as color, shape, size, and position. While such object-centric representations can extract components that generalize w…
Recent generative models can create visually plausible 3D representations of objects. However, the generation process often allows for implicit control signals, such as contextual descriptions, and rarely supports bold geometric distortions beyond existing data distributions. We propose a geometric
We propose Point2Act, which directly retrieves the 3D action point relevant to a contextually described task, leveraging Multimodal Large Language Models (MLLMs). Foundation models have opened the possibility for generalist robots that can perform a zero-shot task following natural language descript…
In this work, we propose a framework that creates a lively virtual dynamic scene with contextual motions of multiple humans. Generating multi-human contextual motion requires holistic reasoning over dynamic relationships among human-human and human-scene interactions. We adapt the power of a large l…
Recent works on dynamic 3D neural field reconstruction assume the input from synchronized multi-view videos whose poses are known. The input constraints are often not satisfied in real-world setups, making the approach impractical. We show that unsynchronized videos from unknown poses can generate d…
While conventional data are represented as discrete vectors, Implicit Neural Representations (INRs) utilize neural networks to represent data points as continuous functions. By incorporating a shared network that maps latent vectors to individual functions, one can model the distribution of function…
Understanding scene contexts is crucial for machines to perform tasks and adapt prior knowledge in unseen or noisy 3D environments. As data-driven learning is intractable to comprehensively encapsulate diverse ranges of layouts and open spaces, we propose teaching machines to identify relational com…
Recent advances in motion diffusion models have led to remarkable progress in diverse motion generation tasks, including text-to-motion synthesis.However, existing approaches represent motions as dense frame sequences, requiring the model to process redundant or less informative frames.The processin…
Creating expressive character animations is labor-intensive, requiring intricate manual adjustment of animators across space and time. Previous works on controllable motion generation often rely on a predefined set of dense spatio-temporal specifications (e.g., dense pelvis trajectories with exact p…
Understanding 3D motion from videos presents inherent challenges due to the diverse types of movement, ranging from rigid and deformable objects to articulated structures. To overcome this, we propose Liv3Stroke, a novel approach for abstracting objects in motion with deformable 3D strokes. The deta…
Modeling human-scene interactions (HSI) is essential for understanding and simulating everyday human behaviors. Recent approaches utilizing generative modeling have made progress in this domain; however, they are limited in controllability and flexibility for real-world applications. To address thes…
We introduce a lightweight and accurate localization method that only utilizes the geometry of 2D-3D lines. Given a pre-captured 3D map our approach localizes a panorama image taking advantage of the holistic 360 degree view. The system mitigates potential privacy breaches or domain discrepancies by…
Multi-robot exploration can be a collaborative solution for navigating a large-scale area. However, it is not trivial to optimally assign tasks among agents because the state dynamically changes while the local observations of multiple agents concurrently update the global map. Furthermore, the indi
We present Normal Field Learning (NFL), a robust yet practical solution to perceive 3D layouts of transparent objects and grasp them quickly. Conventional input modalities for vision-based grasping do not provide sufficient information for transparent objects. However, with the recent advance on dat
We aim to generate fine-grained 3D geometry from large-scale sparse LiDAR scans abundantly captured by autonomous vehicles (AV). Contrary to prior work on AV scene completion we aim to extrapolate fine geometry from unlabeled and beyond spatial limits of LiDAR scans taking a step towards generating…
We present EgoNeRF, a practical solution to reconstruct large-scale real-world environments for VR assets. Given a few seconds of casually captured 360 video, EgoNeRF can efficiently build neural radiance fields which enable high-quality rendering from novel viewpoints. Motivated by the recent accel…
The absolute depth values of surrounding environments provide crucial cues for various assistive technologies, such as localization, navigation, and 3D structure estimation. We propose that accurate depth estimated from panoramic images can serve as a powerful and light-weight input for a wide range…
The exact 3D dynamics of the human body provides crucial evidence to analyze the consequences of the physical interaction between the body and the environment, which can eventually assist everyday activities in a wide range of applications. However, optimizing for 3D configurations from image obser…
Adapters are lightweight bottleneck modules introduced to assist pre-trained self-supervised learning (SSL) models to be customized to new tasks. However, searching the appropriate layers to insert adapters on large models has become difficult due to the large number of possible layers and thus a va…
We introduce LDL, a fast and robust algorithm that localizes a panorama to a 3D map using line segments. LDL focuses on the sparse structural information of lines in the scene, which is robust to illumination changes and can potentially enable efficient computation. While previous line-based localiz…
We propose Text2Scene, a method to automatically create realistic textures for virtual scenes composed of multiple objects. Guided by a reference image and text descriptions, our pipeline adds detailed texture on labeled 3D geometries in the room such that the generated colors respect the hierarchic…
Protoform reconstruction is the task of inferring what morphemes or words appeared like in the ancestral languages of a set of daughter languages. Meloni et al (2021) achieved the state-of-the-art on Latin protoform reconstruction with an RNN-based encoder-decoder with attention model. We update the…
"We present CPO, a fast and robust algorithm that localizes a 2D panorama with respect to a 3D point cloud of a scene possibly containing changes. To robustly handle scene changes, our approach deviates from conventional feature point matching, and focuses on the spatial context provided from panora…
We introduce Ev-TTA, a simple, effective test-time adaptation algorithm for event-based object recognition. While event cameras are proposed to provide measurements of scenes with fast motions or drastic illumination changes, many existing event-based recognition algorithms suffer from performance d…
In this paper, we introduce a mask-based grasping method that discerns multiple objects within the scene regard-less of transparency or specularity and finds the optimal grasp position avoiding clutter. Conventional vision-based robotic grasping approaches often fail to extend to the scenes containi…
"We propose a domain adaptation method, MoDA, which adapts a pretrained embodied agent to a new, noisy environment without ground-truth supervision. Map-based memory provides important contextual information for visual navigation, and exhibits unique spatial structure mainly composed of flat walls a…
We present Neural Marionette, an unsupervised approach that discovers the skeletal structure from a dynamic sequence and learns to generate diverse motions that are consistent with the observed motion dynamics. Given a video stream of point cloud observation of an articulated body under arbitrary mo…
We propose a probabilistic shape completion method extended to the continuous geometry of large-scale 3D scenes. Real-world scans of 3D scenes suffer from a considerable amount of missing data cluttered with unsegmented objects. The problem of shape completion is inherently ill-posed, and high-quali…
We present GATSBI, a generative model that can transform a sequence of raw observations into a structured latent representation that fully captures the spatio-temporal context of the agent's actions. In vision-based decision-making scenarios, an agent faces complex high-dimensional observations wher…
In this work, we present a probabilistic 3D generative model, named Generative Cellular Automata, which is able to produce diverse and high quality shapes. We formulate the shape generation process as sampling from the transition kernel of a Markov chain, where the sampling chain eventually evolves…
We introduce N-ImageNet, a large-scale dataset targeted for robust, fine-grained object recognition with event cameras. The dataset is collected using programmable hardware in which an event camera consistently moves around a monitor displaying images from ImageNet. N-ImageNet serves as a challengin…
We present PICCOLO, a simple and efficient algorithm for omnidirectional localization. Given a colored point cloud and a 360 panorama image of a scene, our objective is to recover the camera pose at which the panorama image is taken. Our pipeline works in an off-the-shelf manner with a single image…
Re-assembling multiple pots accurately from numerous 3D scanned fragments remains a challenging task to this date. Previous methods extract all potential matching pairs of pot sherds and considers them simultaneously to search for an optimal global pot configuration. In this work, we empirically sho…
We present RL-GAN-Net, where a reinforcement learning (RL) agent provides fast and robust control of a generative adversarial network (GAN). Our framework is applied to point cloud shape completion that converts noisy, partial point cloud data into a high-fidelity completed shape by controlling the…