Related papers: Self-supervised Pre-training with Masked Shape Pre…

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

Traditionally, training neural networks to perform semantic segmentation required expensive human-made annotations. But more recently, advances in the field of unsupervised learning have made significant progress on this issue and towards…

Learning to autonomously assemble shapes is a crucial skill for many robotic applications. While the majority of existing part assembly methods focus on correctly posing semantic parts to recreate a whole object, we interpret assembly more…

Template 3D shapes are useful for many tasks in graphics and vision, including fitting observation data, analyzing shape collections, and transferring shape attributes. Because of the variety of geometry and topology of real-world shapes,…

Reconstructing 3D geometry from \emph{unoriented} point clouds can benefit many downstream tasks. Recent shape modeling methods mostly adopt implicit neural representation to fit a signed distance field (SDF) and optimize the network by…

This paper presents a novel approach to learn and detect distinctive regions on 3D shapes. Unlike previous works, which require labeled data, our method is unsupervised. We conduct the analysis on point sets sampled from 3D shapes, then…

As the pretraining technique is growing in popularity, little work has been done on pretrained learning-based motion prediction methods in autonomous driving. In this paper, we propose a framework to formalize the pretraining task for…

Accurate 3D bird's-eye view (BEV) object detection is essential for autonomous driving, and depends strongly on effective multimodal representations from complementary sensors such as cameras and LiDAR. Multimodal masked autoencoders have…

Pre-training by numerous image data has become de-facto for robust 2D representations. In contrast, due to the expensive data acquisition and annotation, a paucity of large-scale 3D datasets severely hinders the learning for high-quality 3D…

Point signature, a representation describing the structural neighborhood of a point in 3D shapes, can be applied to establish correspondences between points in 3D shapes. Conventional methods apply a weight-sharing network, e.g., any kind…

Robotic motor control necessitates the ability to predict the dynamics of environments and interaction objects. However, advanced self-supervised pre-trained visual representations in robotic motor control, leveraging large-scale egocentric…

3D instance segmentation is fundamental to geometric understanding of the world around us. Existing methods for instance segmentation of 3D scenes rely on supervision from expensive, manual 3D annotations. We propose UnScene3D, the first…

3D object detection using LiDAR point clouds is a fundamental task in the fields of computer vision, robotics, and autonomous driving. However, existing 3D detectors heavily rely on annotated datasets, which are both time-consuming and…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

Recent advancements in deep generative models, particularly with the application of CLIP (Contrastive Language Image Pretraining) to Denoising Diffusion Probabilistic Models (DDPMs), have demonstrated remarkable effectiveness in text to…

Building a good speech recognition system usually requires large amounts of transcribed data, which is expensive to collect. To tackle this problem, many unsupervised pre-training methods have been proposed. Among these methods, Masked…

In the field of 3D scene understanding, 3D scene graphs have emerged as a new scene representation that combines geometric and semantic information about objects and their relationships. However, learning semantic 3D scene graphs in a fully…

Transformer-based models attain excellent results and generalize well when trained on sufficient amounts of data. However, constrained by the limited data available in the audio domain, most transformer-based models for audio tasks are…

This paper shows that Masking the Deep hierarchical features is an efficient self-supervised method, denoted as MaskDeep. MaskDeep treats each patch in the representation space as an independent instance. We mask part of patches in the…

Medical image segmentation is a fundamental task for medical image analysis and surgical planning. In recent years, UNet-based networks have prevailed in the field of medical image segmentation. However, convolution-neural networks (CNNs)…