We present a method for zero-shot, text-driven appearance manipulation in natural images and videos. Specifically, given an input image or video and a target text prompt, our goal is to edit the appearance of existing objects (e.g., object's texture) or augment the scene with new visual effects (e.g., smoke, fire) in a semantically meaningful manner.

We present Neural Congealing -- a zero-shot self-supervised framework for detecting and jointly aligning semantically-common content across a given set of images. Our approach harnesses the power of pre-trained DINO-ViT features to learn: (i) a joint semantic atlas -- a 2D grid that captures the mode of DINO-ViT features in the input set, and (ii) dense mappings from the unified atlas to each of the input images.

Functional coverage closure is an important but RTL simulation intensive aspect of constrained random verification.   To reduce these computational demands, we propose test selection for functional coverage via machine learning (ML) based anomaly detection in the structural coverage space of fast functional simulators. We achieve promising results on two units from a state-of-the-art production GPU design.

Memory safety is a major security concern for unsafe programming languages, including C/C++ and CUDA/OpenACC. Hardware-accelerated memory tagging is an effective mechanism for detecting memory safety violations; however, its adoption is challenged by significant meta-data storage and memory traffic overheads.

We present the HANDAL dataset for category-level object pose estimation and affordance prediction. Unlike previous datasets, ours is focused on robotics-ready manipulable objects that are of the proper size and shape for functional grasping by robot manipulators, such as pliers, utensils, and screwdrivers. Our annotation process is streamlined, requiring only a single off-the-shelf camera and semi-automated processing, allowing us to produce high-quality 3D annotations without crowd-sourcing.

Test-time adaptation methods have been gaining attention recently as a practical solution for addressing source-to-target domain gaps by gradually updating the model without requiring labels on the target data. In this paper, we propose a method of test-time adaptation for category-level object pose estimation called TTA-COPE. We design a pose ensemble approach with a self-training loss using pose-aware confidence.

Recent successes in image synthesis are powered by large-scale diffusion models. However, most methods are currently limited to either text- or image-conditioned generation for synthesizing an entire image, texture transfer or inserting objects into a user-specified region. In contrast, in this work we focus on synthesizing complex interactions (i.e., an articulated hand) with a given object. Given an RGB image of an object, we aim to hallucinate plausible images of a human hand interacting with it.

We present a system for collision-free control of a robot manipulator that uses only RGB views of the world. Perceptual input of a tabletop scene is provided by multiple images of an RGB camera (without depth) that is either handheld or mounted on the robot end effector. A NeRF-like process is used to reconstruct the 3D geometry of the scene, from which the Euclidean full signed distance function (ESDF) is computed. A model predictive control algorithm is then used to control the manipulator to reach a desired pose while avoiding obstacles in the ESDF.

Procedural noise functions are widely used in computer graphics as a way to add texture detail to surfaces and volumes. Many noise functions are based on weighted sums that can be expressed in terms of random variables, which makes it possible to compute Monte Carlo estimates of their values at lower cost. Such stochastic noise functions fit naturally into many Monte Carlo estimators already used in rendering.