29 accepted papers
Estimating 7-DoF grasping poses (6-DoF with gripper width) in cluttered scenes is a critical challenge for robotic manipulation. In such environments, object edges often contain many promising grasp candidates, but relying solely on incomplete single-view point cloud to infer them is difficult. Whil…
Dyadic interactive head generation aims to synthesize realistic head motions that respond both verbally and non-verbally to an interlocutor in real-time conversation. The existing works often focus on offline scenarios, and struggle with a shallow understanding of the multimodal conversational conte
Agentic reasoning enables large reasoning models (LRMs) to dynamically acquire external knowledge, but yet optimizing the retrieval process remains challenging due to the lack of dense, principled reward signals. In this paper, we introduce *InfoReasoner*, a unified framework that incentivizes effec…
3D object detection in adverse weather is crucial for autonomous driving, especially in smoke where LiDAR data becomes sparse and noisy. Due to the lack of real smoke data, this paper introduces a physics-based simulation framework to generate realistic LiDAR point clouds of smoke and augment large-
Multimodal magnetic resonance imaging (MRI) is crucial for brain tumor segmentation, with many methods leveraging its four key modalities to capture complementary information for effective sub-region analysis. However, the absence of several modalities is very common in practice, leading to severe p
Autonomous vehicles (AVs) rely on LiDAR sensors for environmental perception and decision-making in driving scenarios. However, ensuring the safety and reliability of AVs in complex environments remains a pressing challenge. To address this issue, we introduce a real-world dataset (ROLiD) comprising…
Adversarial examples can mislead deep neural networks with subtle perturbations, causing them to make incorrect predictions. Notably, adversarial examples crafted for one model can also deceive other models, a phenomenon known as the transferability of adversarial examples. To improve transferabilit…
Continuum robots are well-suited for constrained environments due to their superior flexibility and structural compliance. However, relying solely on passive compliance may lead to damage to both the robot and the surrounding environment. This work proposes a finite-time Cartesian impedance control
Recently, 3D head avatar modeling based on 3D Gaussians has demonstrated significant advantages in rendering quality and efficiency, given sufficient data. Some efforts have begun to train prior models on large datasets to develop generalizable 3D Gaussian head avatar modeling methods. Unfortunately…
Images are often obstructed by various obstacles due to capture limitations, hindering the observation of objects of interest. Most existing methods address occlusions from specific elements like fences or raindrops, but are constrained by the wide range of real-world obstructions, making comprehens…
Stereo-based category-level shape and 6D pose estimation methods have the potential to generalize to a wider range of materials than RGBD methods, which often suffer from depth measurement errors. However, without explicit depth from two views, parameters to be estimated can become inherently entan…
Maritime object detection is essential for navigation safety, surveillance, and autonomous operations, yet constrained by two key challenges: the scarcity of annotated maritime data and poor generalization across various maritime attributes (e.g., object category, viewpoint, location, and imaging en…
LiDAR localization is a fundamental task in autonomous driving and robotics. Scene Coordinate Regression (SCR) exhibits leading pose accuracy, achieving impressive results in learning-based localization. We observe that the real-world LiDAR scans captured from different viewpoints usually result in…
Large Language models (LLMs) have demonstrated significant potential in text-to-SQL reasoning tasks, yet a substantial performance gap persists between existing open-source models and their closed-source counterparts. In this paper, we introduce SQLForge, a novel approach for synthesizing reliable a…
We present a snapshot imaging technique for recovering 3D surrounding views of miniature scenes. Due to their intricacy, miniature scenes with objects sized in millimeters are difficult to reconstruct, yet miniatures are common in life and their 3D digitalization is desirable. We design a catadioptr…
Efficiently navigating to a specific kind of objects in an unknown environment is an important and challenging research topic in Embodied AI. Existing methods, such as end-to-end learning ones and modular ones still struggle at this task as they have poor efficiency, interpretability and/or generali
A significant challenge in multi-view clustering lies in the comprehensive extraction of consistency and complementary information from heterogeneous multi-view data. Numerous methods employ contrastive learning techniques to explore the information between views. However, the basic contrastive lear…
Image harmonization, aiming to seamlessly blend extraneous foreground objects with background images, is a promising and challenging task.Ensuring a synthetic image appears realistic requires maintaining consistency in visual characteristics, such as texture and style, across global and semantic reg…
"Zero-shot object counting (ZOC) aims to enumerate objects in images using only the names of object classes during testing, without the need for manual annotations. However, a critical challenge in current ZOC methods lies in their inability to identify high-quality exemplars effectively. This defic…
Visual re-localization has become one of the key technologies for long-term autonomous robots. Existing methods, mostly focusing on addressing day-night, weather, and seasonal changes, are not applicable in indoor scenarios. At the same time, the layouts of objects in indoor scenes are highly dynami
Neural Radiance Fields (NeRF) have achieved photorealistic novel views synthesis; however, the requirement of accurate camera poses limits its application. Despite analysis-by-synthesis extensions for jointly learning neural 3D representations and registering camera frames exist, they are susceptibl…
Generating talking head videos through a face image and a piece of speech audio still contains many challenges. i.e., unnatural head movement, distorted expression, and identity modification. We argue that these issues are mainly caused by learning from the coupled 2D motion fields. On the other han…
Neural volume rendering enables photo-realistic renderings of a human performer in free-view, a critical task in immersive VR/AR applications. But the practice is severely limited by high computational costs in the rendering process. To solve this problem, we propose the UV Volumes, a new approach t…
"Pioneering dual-encoder pre-training works (e.g., CLIP and ALIGN) have revealed the potential of aligning multi-modal representations with contrastive learning. However, these works require a tremendous amount of data and computational resources (e.g., billion-level web data and hundreds of GPUs),…
"In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in the presence of real-world data. We thus analyze the causes…
Due to the limitations of the imaging processors and complex weather conditions, image degradation is often inevitable. Existing deep learning-based image restoration methods often rely on the powerful feature representation capacity of deep networks and pay less attention to the inherent properties…
Personalized stent graft is designed to treat Abdominal Aortic Aneurysms (AAA). Due to the individual difference in arterial structures, stent graft has to be custom made for each AAA patient. Robotic platforms for autonomous personalized stent graft manufacturing have been proposed in recently whic…
In this paper, we propose an end-to-end convolution neural network (CNN) to restore a clear high-resolution image from a severely blurry image. It's a highly ill-posed problem and brings tremendous challenges to state-of-art deblurring or super-resolution (SR) methods. A straightforward way to solve…
Synchronization of chaotic systems and/or maps is a key step to implement secure communication schemes with chaos. If the process to synchronize chaotic systems is modeled stochastic, schemes based on extended Kalman filter (EKF) and unscented Kalman filter (UKF) have been studied in the past. Howev…