7 papers
Tube Diffusion Policy: Reactive Visual-Tactile Policy Learning for Contact-rich Manipulation
Teng Xue, Alberto Rigo, Bingjian Huang +4
Contact-rich manipulation is central to many everyday human activities, requiring continuous adaptation to contact uncertainty and external disturbances through multi-modal percept…
Art3D: Training-Free 3D Generation from Flat-Colored Illustration
Xiaoyan Cong, Jiayi Shen, Zekun Li +3
Large-scale pre-trained image-to-3D generative models have exhibited remarkable capabilities in diverse shape generations. However, most of them struggle to synthesize plausible 3D…
Distributional Vision-Language Alignment by Cauchy-Schwarz Divergence
Wenzhe Yin, Zehao Xiao, Pan Zhou +4
Vision-language alignment is crucial for various downstream tasks such as cross-modal generation and retrieval. Previous multimodal approaches like CLIP utilize InfoNCE to maximize…
Model Predictive Task Sampling for Efficient and Robust Adaptation
Qi Wang, Zehao Xiao, Yixiu Mao +4
Foundation models have revolutionized general-purpose problem-solving, offering rapid task adaptation through pretraining, meta-training, and finetuning. Recent crucial advances in…
Probabilistic Interactive 3D Segmentation with Hierarchical Neural Processes
Jie Liu, Pan Zhou, Zehao Xiao +4
Interactive 3D segmentation has emerged as a promising solution for generating accurate object masks in complex 3D scenes by incorporating user-provided clicks. However, two critic…
Geometric Neural Process Fields
Wenzhe Yin, Zehao Xiao, Jiayi Shen +4
This paper addresses the challenge of Neural Field (NeF) generalization, where models must efficiently adapt to new signals given only a few observations. To tackle this, we propos…