Search Results for author: Jiazhao Zhang

Found 12 papers, 2 papers with code

NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigation

no code implementations24 Feb 2024 Jiazhao Zhang, Kunyu Wang, Rongtao Xu, Gengze Zhou, Yicong Hong, Xiaomeng Fang, Qi Wu, Zhizheng Zhang, He Wang

Vision-and-Language Navigation (VLN) stands as a key research problem of Embodied AI, aiming at enabling agents to navigate in unseen environments following linguistic instructions.

Decision Making Instruction Following +3

A Unified Gaussian Process for Branching and Nested Hyperparameter Optimization

no code implementations19 Jan 2024 Jiazhao Zhang, Ying Hung, Chung-Ching Lin, Zicheng Liu

To capture the conditional dependence between branching and nested parameters, a unified Bayesian optimization framework is proposed.

Bayesian Optimization Hyperparameter Optimization

MaskClustering: View Consensus based Mask Graph Clustering for Open-Vocabulary 3D Instance Segmentation

no code implementations15 Jan 2024 Mi Yan, Jiazhao Zhang, Yan Zhu, He Wang

The corresponding 3D points cluster of these 2D mask clusters can be regarded as 3D instances, along with the fused open-vocabulary features from clustered 2D masks.

3D Instance Segmentation 3D Open-Vocabulary Instance Segmentation +6

FG-NeRF: Flow-GAN based Probabilistic Neural Radiance Field for Independence-Assumption-Free Uncertainty Estimation

no code implementations28 Sep 2023 Songlin Wei, Jiazhao Zhang, Yang Wang, Fanbo Xiang, Hao Su, He Wang

Existing works rely on the independence assumption of points in the radiance field or the pixels in input views to obtain tractable forms of the probability density function.

GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion

no code implementations27 Sep 2023 Jiazhao Zhang, Nandiraju Gireesh, Jilong Wang, Xiaomeng Fang, Chaoyi Xu, Weiguang Chen, Liu Dai, He Wang

Mobile manipulation constitutes a fundamental task for robotic assistants and garners significant attention within the robotics community.

MIPS-Fusion: Multi-Implicit-Submaps for Scalable and Robust Online Neural RGB-D Reconstruction

no code implementations17 Aug 2023 Yijie Tang, Jiazhao Zhang, Zhinan Yu, He Wang, Kai Xu

For the first time, randomized optimization is made possible in neural tracking with several key designs to the learning process, enabling efficient and robust tracking even under fast camera motions.

RGB-D Reconstruction

3D-Aware Object Goal Navigation via Simultaneous Exploration and Identification

no code implementations CVPR 2023 Jiazhao Zhang, Liu Dai, Fanpeng Meng, Qingnan Fan, Xuelin Chen, Kai Xu, He Wang

However, leveraging 3D scene representation can be prohibitively unpractical for policy learning in this floor-level task, due to low sample efficiency and expensive computational cost.

GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF

1 code implementation12 Oct 2022 Qiyu Dai, Yan Zhu, Yiran Geng, Ciyu Ruan, Jiazhao Zhang, He Wang

In this work, we tackle 6-DoF grasp detection for transparent and specular objects, which is an important yet challenging problem in vision-based robotic systems, due to the failure of depth cameras in sensing their geometry.

Tracking and Reconstructing Hand Object Interactions from Point Cloud Sequences in the Wild

no code implementations24 Sep 2022 Jiayi Chen, Mi Yan, Jiazhao Zhang, Yinzhen Xu, Xiaolong Li, Yijia Weng, Li Yi, Shuran Song, He Wang

We for the first time propose a point cloud based hand joint tracking network, HandTrackNet, to estimate the inter-frame hand joint motion.

hand-object pose Object +2

ROSEFusion: Random Optimization for Online Dense Reconstruction under Fast Camera Motion

no code implementations12 May 2021 Jiazhao Zhang, Chenyang Zhu, Lintao Zheng, Kai Xu

We propose to tackle the difficulties of fast-motion camera tracking in the absence of inertial measurements using random optimization, in particular, the Particle Filter Optimization (PFO).

Pose Tracking

Fusion-Aware Point Convolution for Online Semantic 3D Scene Segmentation

1 code implementation CVPR 2020 Jiazhao Zhang, Chenyang Zhu, Lintao Zheng, Kai Xu

Online semantic 3D segmentation in company with real-time RGB-D reconstruction poses special challenges such as how to perform 3D convolution directly over the progressively fused 3D geometric data, and how to smartly fuse information from frame to frame.

RGB-D Reconstruction Scene Segmentation

Active Scene Understanding via Online Semantic Reconstruction

no code implementations18 Jun 2019 Lintao Zheng, Chenyang Zhu, Jiazhao Zhang, Hang Zhao, Hui Huang, Matthias Niessner, Kai Xu

In our method, the exploratory robot scanning is both driven by and targeting at the recognition and segmentation of semantic objects from the scene.

Scene Understanding Semantic Segmentation

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