6 papers
Wavelet Policy: Imitation Learning in the Scale Domain with World Prior Memory
Changchuan Yang, Haoxuan Xu, Yuhang Dong +3
Conventional visuomotor imitation learning usually predicts future robot actions directly in the time domain. Such formulations often have limited physical scene awareness and weak…
Learning Multi-view Anomaly Detection with Efficient Adaptive Selection
Haoyang He, Jiangning Zhang, Guanzhong Tian +2
This study explores the recently proposed and challenging multi-view Anomaly Detection (AD) task. Single-view tasks will encounter blind spots from other perspectives, resulting in…
DISCOVERSE: Efficient Robot Simulation in Complex High-Fidelity Environments
Yufei Jia, Guangyu Wang, Yuhang Dong +17
We present the first unified, modular, open-source 3DGS-based simulation framework for Real2Sim2Real robot learning. It features a holistic Real2Sim pipeline that synthesizes hyper…
Bridge Feature Matching and Cross-Modal Alignment with Mutual-filtering for Zero-shot Anomaly Detection
Yuhu Bai, Jiangning Zhang, Yunkang Cao +4
With the advent of vision-language models (e.g., CLIP) in zero- and few-shot settings, CLIP has been widely applied to zero-shot anomaly detection (ZSAD) in recent research, where…
MambaAD: Exploring State Space Models for Multi-class Unsupervised Anomaly Detection
Haoyang He, Yuhu Bai, Jiangning Zhang +7
Recent advancements in anomaly detection have seen the efficacy of CNN- and transformer-based approaches. However, CNNs struggle with long-range dependencies, while transformers ar…
Locate n' Rotate: Two-stage Openable Part Detection with Foundation Model Priors
Siqi Li, Xiaoxue Chen, Haoyu Cheng +3
Detecting the openable parts of articulated objects is crucial for downstream applications in intelligent robotics, such as pulling a drawer. This task poses a multitasking challen…