Related papers: SN-Graph: a Minimalist 3D Object Representation fo…

3D decomposition/segmentation still remains a challenge as large-scale 3D annotated data is not readily available. Contemporary approaches typically leverage 2D machine-generated segments, integrating them for 3D consistency. While the…

Object segmentation is an important capability for robotic systems, in particular for grasping. We present a graph- based approach for the segmentation of simple objects from RGB-D images. We are interested in segmenting objects with large…

Subgraph classification is an emerging field in graph representation learning where the task is to classify a group of nodes (i.e., a subgraph) within a graph. Subgraph classification has applications such as predicting the cellular…

Recent advances in computer graphics and computer vision have found successful application of deep neural network models for 3D shapes based on signed distance functions (SDFs) that are useful for shape representation, retrieval, and…

Two-stage detectors have gained much popularity in 3D object detection. Most two-stage 3D detectors utilize grid points, voxel grids, or sampled keypoints for RoI feature extraction in the second stage. Such methods, however, are…

In this study, we focus on the graph representation learning (a.k.a. network embedding) in attributed graphs. Different from existing embedding methods that treat the incorporation of graph structure and semantic as the simple combination…

3D scene graphs provide a structured representation of object entities and their relationships, enabling high-level interpretation and reasoning for robots while remaining intuitively understandable to humans. Existing approaches for 3D…

We present FuncGrasp, a framework that can infer dense yet reliable grasp configurations for unseen objects using one annotated object and single-view RGB-D observation via categorical priors. Unlike previous works that only transfer a set…

We introduce a novel problem, i.e., the localization of an input image within a multi-modal reference map represented by a database of 3D scene graphs. These graphs comprise multiple modalities, including object-level point clouds, images,…

Scene understanding is a critical problem in computer vision. In this paper, we propose a 3D point-based scene graph generation ($\mathbf{SGG_{point}}$) framework to effectively bridge perception and reasoning to achieve scene understanding…

Representation learning for graphs enables the application of standard machine learning algorithms and data analysis tools to graph data. Replacing discrete unordered objects such as graph nodes by real-valued vectors is at the heart of…

Graph Neural Networks (GNNs), which generalize the deep neural networks to graph-structured data, have achieved great success in modeling graphs. However, as an extension of deep learning for graphs, GNNs lack explainability, which largely…

We propose a differentiable sphere tracing algorithm to bridge the gap between inverse graphics methods and the recently proposed deep learning based implicit signed distance function. Due to the nature of the implicit function, the…

As a consequence of an ever-increasing number of service robots, there is a growing demand for highly accurate real-time 3D object recognition. Considering the expansion of robot applications in more complex and dynamic environments,it is…

Object rearranging is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a goal configuration. Previous studies focus on designing an expert system for each specific task by…

We present a solution for 3D object generation of ICCV 2023 OmniObject3D Challenge. In recent years, 3D object generation has made great process and achieved promising results, but it remains a challenging task due to the difficulty of…

In this paper, we present a framework to represent mock 3D objects and scenes, which are not 3D but appear 3D. In our framework, each mock-3D object is represented using 2D non-conservative vector fields and thickness information that are…

Theoretical studies on the representation power of GNNs have been centered around understanding the equivalence of GNNs, using WL-Tests for detecting graph isomorphism. In this paper, we argue that such equivalence ignores the accompanying…

Robots operating in unstructured environments often require accurate and consistent object-level representations. This typically requires segmenting individual objects from the robot's surroundings. While recent large models such as Segment…

Graph Neural Networks (GNNs) have been widely applied in the semi-supervised node classification task, where a key point lies in how to sufficiently leverage the limited but valuable label information. Most of the classical GNNs solely use…