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The perception of transparent objects for grasp and manipulation remains a major challenge, because existing robotic grasp methods which heavily rely on depth maps are not suitable for transparent objects due to their unique visual properties. These properties lead to gaps and inaccuracies in the depth maps of the transparent objects captured by depth sensors. To address this issue, we propose an end-to-end network for transparent object depth completion that combines the strengths of single-view RGB-D based depth completion and multi-view depth estimation. Moreover, we introduce a depth refinement module based on confidence estimation to fuse predicted depth maps from single-view and multi-view modules, which further refines the restored depth map. The extensive experiments on the ClearPose and TransCG datasets demonstrate that our method achieves superior accuracy and robustness in complex scenarios with significant occlusion compared to the state-of-the-art methods.

Recent advances in large language models (LLMs) have blurred the boundary of high-quality text generation between humans and machines, which is favorable for generative text steganography. While, current advanced steganographic mapping is not suitable for LLMs since most users are restricted to accessing only the black-box API or user interface of the LLMs, thereby lacking access to the training vocabulary and its sampling probabilities. In this paper, we explore a black-box generative text steganographic method based on the user interfaces of large language models, which is called LLM-Stega. The main goal of LLM-Stega is that the secure covert communication between Alice (sender) and Bob (receiver) is conducted by using the user interfaces of LLMs. Specifically, We first construct a keyword set and design a new encrypted steganographic mapping to embed secret messages. Furthermore, to guarantee accurate extraction of secret messages and rich semantics of generated stego texts, an optimization mechanism based on reject sampling is proposed. Comprehensive experiments demonstrate that the proposed LLM-Stega outperforms current state-of-the-art methods.

Traditional video steganography methods are based on modifying the covert space for embedding, whereas we propose an innovative approach that embeds secret message within semantic feature for steganography during the video editing process. Although existing traditional video steganography methods display a certain level of security and embedding capacity, they lack adequate robustness against common distortions in online social networks (OSNs). In this paper, we introduce an end-to-end robust generative video steganography network (RoGVS), which achieves visual editing by modifying semantic feature of videos to embed secret message. We employ face-swapping scenario to showcase the visual editing effects. We first design a secret message embedding module to adaptively hide secret message into the semantic feature of videos. Extensive experiments display that the proposed RoGVS method applied to facial video datasets demonstrate its superiority over existing video and image steganography techniques in terms of both robustness and capacity., Comment: Under Review

This letter proposes an improved CNN predictor (ICNNP) for reversible data hiding (RDH) in images, which consists of a feature extraction module, a pixel prediction module, and a complexity prediction module. Due to predicting the complexity of each pixel with the ICNNP during the embedding process, the proposed method can achieve superior performance than the CNN predictor-based method. Specifically, an input image does be first split into two different sub-images, i.e., the "Dot" image and the "Cross" image. Meanwhile, each sub-image is applied to predict another one. Then, the prediction errors of pixels are sorted with the predicted pixel complexities. In light of this, some sorted prediction errors with less complexity are selected to be efficiently used for low-distortion data embedding with a traditional histogram shift scheme. Experimental results demonstrate that the proposed method can achieve better embedding performance than that of the CNN predictor with the same histogram shifting strategy.

Grasp pose estimation is an important issue for robots to interact with the real world. However, most of existing methods require exact 3D object models available beforehand or a large amount of grasp annotations for training. To avoid these problems, we propose TransGrasp, a category-level grasp pose estimation method that predicts grasp poses of a category of objects by labeling only one object instance. Specifically, we perform grasp pose transfer across a category of objects based on their shape correspondences and propose a grasp pose refinement module to further fine-tune grasp pose of grippers so as to ensure successful grasps. Experiments demonstrate the effectiveness of our method on achieving high-quality grasps with the transferred grasp poses. Our code is available at https://github.com/yanjh97/TransGrasp., Comment: Accepted to European Conference on Computer Vision (ECCV) 2022