61,017 research outputs found
Semantic Photo Manipulation with a Generative Image Prior
Despite the recent success of GANs in synthesizing images conditioned on
inputs such as a user sketch, text, or semantic labels, manipulating the
high-level attributes of an existing natural photograph with GANs is
challenging for two reasons. First, it is hard for GANs to precisely reproduce
an input image. Second, after manipulation, the newly synthesized pixels often
do not fit the original image. In this paper, we address these issues by
adapting the image prior learned by GANs to image statistics of an individual
image. Our method can accurately reconstruct the input image and synthesize new
content, consistent with the appearance of the input image. We demonstrate our
interactive system on several semantic image editing tasks, including
synthesizing new objects consistent with background, removing unwanted objects,
and changing the appearance of an object. Quantitative and qualitative
comparisons against several existing methods demonstrate the effectiveness of
our method.Comment: SIGGRAPH 201
Reflexive obstacle avoidance for kinematically-redundant manipulators
Dexterous telerobots incorporating 17 or more degrees of freedom operating under coordinated, sensor-driven computer control will play important roles in future space operations. They will also be used on Earth in assignments like fire fighting, construction and battlefield support. A real time, reflexive obstacle avoidance system, seen as a functional requirement for such massively redundant manipulators, was developed using arm-mounted proximity sensors to control manipulator pose. The project involved a review and analysis of alternative proximity sensor technologies for space applications, the development of a general-purpose algorithm for synthesizing sensor inputs, and the implementation of a prototypical system for demonstration and testing. A 7 degree of freedom Robotics Research K-2107HR manipulator was outfitted with ultrasonic proximity sensors as a testbed, and Robotics Research's standard redundant motion control algorithm was modified such that an object detected by sensor arrays located at the elbow effectively applies a force to the manipulator elbow, normal to the axis. The arm is repelled by objects detected by the sensors, causing the robot to steer around objects in the workspace automatically while continuing to move its tool along the commanded path without interruption. The mathematical approach formulated for synthesizing sensor inputs can be employed for redundant robots of any kinematic configuration
Unsupervised Discovery of Parts, Structure, and Dynamics
Humans easily recognize object parts and their hierarchical structure by
watching how they move; they can then predict how each part moves in the
future. In this paper, we propose a novel formulation that simultaneously
learns a hierarchical, disentangled object representation and a dynamics model
for object parts from unlabeled videos. Our Parts, Structure, and Dynamics
(PSD) model learns to, first, recognize the object parts via a layered image
representation; second, predict hierarchy via a structural descriptor that
composes low-level concepts into a hierarchical structure; and third, model the
system dynamics by predicting the future. Experiments on multiple real and
synthetic datasets demonstrate that our PSD model works well on all three
tasks: segmenting object parts, building their hierarchical structure, and
capturing their motion distributions.Comment: ICLR 2019. The first two authors contributed equally to this wor
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