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With recent developments of convolutional neural networks, deep learning for 3D point clouds has shown significant progress in various 3D scene understanding tasks, e.g., object recognition, semantic segmentation. In a safety-critical…

3D perception in LiDAR point clouds is crucial for a self-driving vehicle to properly act in 3D environment. However, manually labeling point clouds is hard and costly. There has been a growing interest in self-supervised pre-training of 3D…

Collider data generation with machine learning has become increasingly popular in particle physics due to the high computational cost of conventional Monte Carlo simulations, particularly for future high-luminosity colliders. We propose a…

3D point cloud classification has many safety-critical applications such as autonomous driving and robotic grasping. However, several studies showed that it is vulnerable to adversarial attacks. In particular, an attacker can make a…

Adversarial Training (AT) is one of the most effective methods to train robust Deep Neural Networks (DNNs). However, AT creates an inherent trade-off between clean accuracy and adversarial robustness, which is commonly attributed to the…

This paper presents an effective few-shot point cloud semantic segmentation approach for real-world applications. Existing few-shot segmentation methods on point cloud heavily rely on the fully-supervised pretrain with large annotated…

3D perception, especially point cloud classification, has achieved substantial progress. However, in real-world deployment, point cloud corruptions are inevitable due to the scene complexity, sensor inaccuracy, and processing imprecision.…

The 3D deep learning community has seen significant strides in pointcloud processing over the last few years. However, the datasets on which deep models have been trained have largely remained the same. Most datasets comprise clean,…

Established sampling protocols for 3D point cloud learning, such as Farthest Point Sampling (FPS) and Fixed Sample Size (FSS), have long been relied upon. However, real-world data often suffer from corruptions, such as sensor noise, which…

To alleviate the cost of collecting and annotating large-scale point cloud datasets, we propose an unsupervised learning approach to learn features from unlabeled point cloud "3D object" dataset by using part contrasting and object…

Rapid progress in 3D semantic segmentation is inseparable from the advances of deep network models, which highly rely on large-scale annotated data for training. To address the high cost and challenges of 3D point-level labeling, we present…

Point cloud learning is receiving increasing attention. However, most existing point cloud models lack the practical ability to deal with the unavoidable presence of unknown objects. This paper primarily discusses point cloud learning in…

Current models for point cloud recognition demonstrate promising performance on synthetic datasets. However, real-world point cloud data inevitably contains noise, impacting model robustness. While recent efforts focus on enhancing…

In this work, we present INTACT, a novel two-phase framework designed to enhance the robustness of deep neural networks (DNNs) against noisy LiDAR data in safety-critical perception tasks. INTACT combines meta-learning with adversarial…

Parameter-efficient fine-tuning strategies for foundation models in 1D textual and 2D visual analysis have demonstrated remarkable efficacy. However, due to the scarcity of point cloud data, pre-training large 3D models remains a…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

Pre-training a model and then fine-tuning it on downstream tasks has demonstrated significant success in the 2D image and NLP domains. However, due to the unordered and non-uniform density characteristics of point clouds, it is non-trivial…

Deep neural networks are susceptible to adversarial attacks and common corruptions, which undermine their robustness. In order to enhance model resilience against such challenges, Adversarial Training (AT) has emerged as a prominent…

Accurately detecting objects in the environment is a key challenge for autonomous vehicles. However, obtaining annotated data for detection is expensive and time-consuming. We introduce PatchContrast, a novel self-supervised point cloud…

Adversarial training has been proven to be an effective technique for improving the adversarial robustness of models. However, there seems to be an inherent trade-off between optimizing the model for accuracy and robustness. To this end, we…