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Training a deep network policy for robot manipulation is notoriously costly and time consuming as it depends on collecting a significant amount of real world data. To work well in the real world, the policy needs to see many instances of…

Modelling individual objects in a scene as Neural Radiance Fields (NeRFs) provides an alternative geometric scene representation that may benefit downstream robotics tasks such as scene understanding and object manipulation. However, we…

Deformable objects present a formidable challenge for robotic manipulation due to the lack of canonical low-dimensional representations and the difficulty of capturing, predicting, and controlling such objects. We construct compact…

Self-supervised learning on point clouds has gained a lot of attention recently, since it addresses the label-efficiency and domain-gap problems on point cloud tasks. In this paper, we propose a novel self-supervised framework to learn…

The recent success of implicit neural scene representations has presented a viable new method for how we capture and store 3D scenes. Unlike conventional 3D representations, such as point clouds, which explicitly store scene properties in…

Point cloud-based motion capture leverages rich spatial geometry and privacy-preserving sensing, but learning robust representations from noisy, unstructured point clouds remains challenging. Existing approaches face a struggle trade-off…

Despite significant progress in image-based 3D scene flow estimation, the performance of such approaches has not yet reached the fidelity required by many applications. Simultaneously, these applications are often not restricted to…

Transformer-based Self-supervised Representation Learning methods learn generic features from unlabeled datasets for providing useful network initialization parameters for downstream tasks. Recently, self-supervised learning based upon…

Point cloud learning often rests on the premise that observed samples are noisy traces of an underlying geometric object, such as a manifold embedded in a high-dimensional feature space. Yet much of this geometry is not captured directly by…

Generating 3D point clouds is challenging yet highly desired. This work presents a novel autoregressive model, PointGrow, which can generate diverse and realistic point cloud samples from scratch or conditioned on semantic contexts. This…

Identifying changes in a pair of 3D aerial LiDAR point clouds, obtained during two distinct time periods over the same geographic region presents a significant challenge due to the disparities in spatial coverage and the presence of noise…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

We introduce OpenShape, a method for learning multi-modal joint representations of text, image, and point clouds. We adopt the commonly used multi-modal contrastive learning framework for representation alignment, but with a specific focus…

Recent progress of semantic point clouds analysis is largely driven by synthetic data (e.g., the ModelNet and the ShapeNet), which are typically complete, well-aligned and noisy free. Therefore, representations of those ideal synthetic…

As a promising scheme of self-supervised learning, masked autoencoding has significantly advanced natural language processing and computer vision. Inspired by this, we propose a neat scheme of masked autoencoders for point cloud…

We proposed a novel graph convolutional neural network that could construct a coarse, sparse latent point cloud from a dense, raw point cloud. With a novel non-isotropic convolution operation defined on irregular geometries, the model then…

Pseudo-LiDAR point cloud interpolation is a novel and challenging task in the field of autonomous driving, which aims to address the frequency mismatching problem between camera and LiDAR. Previous works represent the 3D spatial motion…

Reconstructing accurate implicit surface representations from point clouds remains a challenging task, particularly when data is captured using low-quality scanning devices. These point clouds often contain substantial noise, leading to…

Point cloud analysis is an area of increasing interest due to the development of 3D sensors that are able to rapidly measure the depth of scenes accurately. Unfortunately, applying deep learning techniques to perform point cloud analysis is…

3D single object tracking is a key task in 3D computer vision. However, the sparsity of point clouds makes it difficult to compute the similarity and locate the object, posing big challenges to the 3D tracker. Previous works tried to solve…