13 papers
StableMotion: One-Step Motion Estimation with Diffusion Prior
Ziyi Wang, Haipeng Li, Lin Sui +5
We present StableMotion, a novel framework that leverages geometric and content priors from pretrained large-scale image diffusion models for motion estimation in single-image rect…
CamFlow+: Hybrid Motion Bases for 2D Camera Motion Estimation with Stabilization Applications
Haipeng Li, Zhen Liu, Zhanglei Yang +6
Estimating 2D camera motion is fundamental to computer vision and computational photography. Existing homography-based methods work well for planar scenes or pure rotation, but str…
LaS-Comp: Zero-shot 3D Completion with Latent-Spatial Consistency
Weilong Yan, Haipeng Li, Hao Xu +4
This paper introduces LaS-Comp, a zero-shot and category-agnostic approach that leverages the rich geometric priors of 3D foundation models to enable 3D shape completion across div…
Action-Geometry Prediction with 3D Geometric Prior for Bimanual Manipulation
Chongyang Xu, Haipeng Li, Shen Cheng +4
Bimanual manipulation requires policies that can reason about 3D geometry, anticipate how it evolves under action, and generate smooth, coordinated motions. However, existing metho…
HeRO: Hierarchical 3D Semantic Representation for Pose-aware Object Manipulation
Chongyang Xu, Shen Cheng, Haipeng Li +3
Imitation learning for robotic manipulation has progressed from 2D image policies to 3D representations that explicitly encode geometry. Yet purely geometric policies often lack ex…
Hierarchical Neural Semantic Representation for 3D Semantic Correspondence
Keyu Du, Jingyu Hu, Haipeng Li +4
This paper presents a new approach to estimate accurate and robust 3D semantic correspondence with the hierarchical neural semantic representation. Our work has three key contribut…