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The 3D modelling of indoor environments and the generation of process simulations play an important role in factory and assembly planning. In brownfield planning cases existing data are often outdated and incomplete especially for older…

Learning to reconstruct 3D garments is important for dressing 3D human bodies of different shapes in different poses. Previous works typically rely on 2D images as input, which however suffer from the scale and pose ambiguities. To…

Scaling up test-time compute, by generating multiple independent solutions and selecting or aggregating among them, has become a central paradigm for improving large language models (LLMs) on challenging reasoning tasks. While most prior…

Point clouds acquired by 3D scanning devices are often sparse, noisy, and non-uniform, causing a loss of geometric features. To facilitate the usability of point clouds in downstream applications, given such input, we present a…

A robot operating in a real-world environment needs to perform reasoning over a variety of sensor modalities such as vision, language and motion trajectories. However, it is extremely challenging to manually design features relating such…

Unlike on images, semantic learning on 3D point clouds using a deep network is challenging due to the naturally unordered data structure. Among existing works, PointNet has achieved promising results by directly learning on point sets.…

Reinforcement learning (RL) solves sequential decision-making problems via a trial-and-error process interacting with the environment. While RL achieves outstanding success in playing complex video games that allow huge trial-and-error,…

Learning relational tabular data has gained significant attention recently, but most studies focus on single tables, overlooking the potential of cross-table learning. Cross-table learning, especially in scenarios where tables lack shared…

Recent advances in augmented reality (AR) have enabled interactive systems that assist users in physical assembly tasks. In this paper, we present an AR-assisted assembly workflow that leverages object recognition and hand tracking to (1)…

Understanding assembly instruction has the potential to enhance the robot s task planning ability and enables advanced robotic applications. To recognize the key components from the 2D assembly instruction image, We mainly focus on…

This paper presents a simulation-driven approach for automating the force-controlled assembly of electrical terminals on DIN-rails, a task traditionally hindered by high programming effort and product variability. The proposed method…

This paper describes a neural network layer, named Ursa, that uses a constellation of points to learn classification information from point cloud data. Unlike other machine learning classification problems where the task is to classify an…

The task of point cloud upsampling aims to acquire dense and uniform point sets from sparse and irregular point sets. Although significant progress has been made with deep learning models, state-of-the-art methods require ground-truth dense…

Detecting 3D objects from point clouds is a practical yet challenging task that has attracted increasing attention recently. In this paper, we propose a Label-Guided auxiliary training method for 3D object detection (LG3D), which serves as…

Robotic cloth manipulation faces challenges due to the fabric's complex dynamics and the high dimensionality of configuration spaces. Previous methods have largely focused on isolated smoothing or folding tasks and overly reliant on…

In the past decade, deep neural networks have achieved significant progress in point cloud learning. However, collecting large-scale precisely-annotated training data is extremely laborious and expensive, which hinders the scalability of…

This paper proposes an adaptive margin contrastive learning method for 3D semantic segmentation on point clouds. Most existing methods use equally penalized objectives, which ignore the per-point ambiguities and less discriminated features…

Federated learning is the centralized training of statistical models from decentralized data on mobile devices while preserving the privacy of each device. We present a robust aggregation approach to make federated learning robust to…

The task of reassembly is a significant challenge across multiple domains, including archaeology, genomics, and molecular docking, requiring the precise placement and orientation of elements to reconstruct an original structure. In this…

Reconstructing 3D point clouds into triangle meshes is a key problem in computational geometry and surface reconstruction. Point cloud triangulation solves this problem by providing edge information to the input points. Since no vertex…