The abstract claims a new visuotactile robot manipulation policy (FBI) that outperforms baselines, but the manuscript body is an unrelated paper on text-to-image synthesis, so the claimed result is absent.
MIGC++: Advanced Multi-Instance Generation Controller for Image Synthesis
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abstract
We introduce the Multi-Instance Generation (MIG) task, which focuses on generating multiple instances within a single image, each accurately placed at predefined positions with attributes such as category, color, and shape, strictly following user specifications. MIG faces three main challenges: avoiding attribute leakage between instances, supporting diverse instance descriptions, and maintaining consistency in iterative generation. To address attribute leakage, we propose the Multi-Instance Generation Controller (MIGC). MIGC generates multiple instances through a divide-and-conquer strategy, breaking down multi-instance shading into single-instance tasks with singular attributes, later integrated. To provide more types of instance descriptions, we developed MIGC++. MIGC++ allows attribute control through text \& images and position control through boxes \& masks. Lastly, we introduced the Consistent-MIG algorithm to enhance the iterative MIG ability of MIGC and MIGC++. This algorithm ensures consistency in unmodified regions during the addition, deletion, or modification of instances, and preserves the identity of instances when their attributes are changed. We introduce the COCO-MIG and Multimodal-MIG benchmarks to evaluate these methods. Extensive experiments on these benchmarks, along with the COCO-Position benchmark and DrawBench, demonstrate that our methods substantially outperform existing techniques, maintaining precise control over aspects including position, attribute, and quantity. Project page: https://github.com/limuloo/MIGC.
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FBI: Learning Dexterous In-hand Manipulation with Dynamic Visuotactile Shortcut Policy
The abstract claims a new visuotactile robot manipulation policy (FBI) that outperforms baselines, but the manuscript body is an unrelated paper on text-to-image synthesis, so the claimed result is absent.