5 papers
Scalable and Differentiable Point-Cloud Registration Using Maximum Mean Discrepancy
Rixon Crane, Fahira Afzal Maken, Nicholas Lawrance +4
We present MMD-Reg, a novel correspondence-free approach to point-cloud registration that is differentiable and has linear computational complexity in the number of points. We mode…
Layer-Specific Prompt Fusion Discovery via Differentiable Search in Vision Foundation Models
Xi Xiao, Xingjian Li, Yunbei Zhang +7
Visual prompt tuning has emerged as a parameter-efficient fine-tuning approach for adapting large-scale Vision Transformers (ViTs) to downstream tasks. As its learnable prompts are…
BioMedVR: Confusion-Aware Mixture-of-Prompt Experts for Biomedical Visual Reprogramming
Jiaxiang Liu, Tianxiang Hu, Juwei Guan +5
Recent advances in vision-language models (VLMs) such as CLIP have demonstrated strong generalization across natural-image domains. However, adapting these models to biomedical ima…
G3Flow: Generative 3D Semantic Flow for Pose-aware and Generalizable Object Manipulation
Tianxing Chen, Yao Mu, Zhixuan Liang +8
Recent advances in imitation learning for 3D robotic manipulation have shown promising results with diffusion-based policies. However, achieving human-level dexterity requires seam…
RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins
Yao Mu, Tianxing Chen, Zanxin Chen +11
In the rapidly advancing field of robotics, dual-arm coordination and complex object manipulation are essential capabilities for developing advanced autonomous systems. However, th…