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Augmenting vision-language-action models (VLAs) with world models is promising for robotic policy learning but faces challenges in jointly predicting states and actions due to the modality gap. To address this, we propose DUal-STream…

Adaptive gradient-based optimization methods such as \textsc{Adagrad}, \textsc{Rmsprop}, and \textsc{Adam} are widely used in solving large-scale machine learning problems including deep learning. A number of schemes have been proposed in…

Point clouds are crucial for capturing three-dimensional data but often suffer from incompleteness due to limitations such as resolution and occlusion. Traditional methods typically rely on point-based approaches within discriminative…

Loop closure detection is a key technology for long-term robot navigation in complex environments. In this paper, we present a global descriptor, named Normal Distribution Descriptor (NDD), for 3D point cloud loop closure detection. The…

The introduction of diffusion models in anomaly detection has paved the way for more effective and accurate image reconstruction in pathologies. However, the current limitations in controlling noise granularity hinder diffusion models'…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

This paper explores the utility of diffusion-based models for anomaly detection, focusing on their efficacy in identifying deviations in both compact and high-resolution datasets. Diffusion-based architectures, including Denoising Diffusion…

Three-dimensional data have become increasingly present in earth observation over the last decades. However, many 3D surveys are still underexploited due to the lack of accessible and explainable automatic classification methods, for…

Millimeter-wave (mmWave) radar has attracted significant attention in robotics and autonomous driving. However, despite the perception stability in harsh environments, the point cloud generated by mmWave radar is relatively sparse while…

Deep learning (DL) models achieve remarkable performance in classification tasks. However, models with high complexity can not be used in many risk-sensitive applications unless a comprehensible explanation is presented. Explainable…

In a fully autonomous driving framework, where vehicles operate without human intervention, information sharing plays a fundamental role. In this context, new network solutions have to be designed to handle the large volumes of data…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

Emergence of the utility of 3D point cloud data in safety-critical vision tasks (e.g., ADAS) urges researchers to pay more attention to the robustness of 3D representations and deep networks. To this end, we develop an attack and defense…

Point cloud data now are popular data representations in a number of three-dimensional (3D) vision research realms. However, due to the limited performance of sensors and sensing noise, the raw data usually suffer from sparsity, noise, and…

The potential of applying diffusion models (DMs) for multiple antenna communications is discussed. A unified framework of applying DM for multiple antenna tasks is first proposed. Then, the tasks are innovatively divided into two…

Recently, deep neural networks have made remarkable achievements in 3D point cloud classification. However, existing classification methods are mainly implemented on idealized point clouds and suffer heavy degradation of per-formance on…

We introduce the state-of-the-art deep learning Denoising Diffusion Probabilistic Model (DDPM) as a method to infer the volume or number density of giant molecular clouds (GMCs) from projected mass surface density maps. We adopt…

Unsupervised point cloud segmentation is critical for embodied artificial intelligence and autonomous driving, as it mitigates the prohibitive cost of dense point-level annotations required by fully supervised methods. While integrating 2D…

We introduce Diffusion World Model (DWM), a conditional diffusion model capable of predicting multistep future states and rewards concurrently. As opposed to traditional one-step dynamics models, DWM offers long-horizon predictions in a…

In autonomous driving, 3D object detection based on multi-modal data has become an indispensable approach when facing complex environments around the vehicle. During multi-modal detection, LiDAR and camera are simultaneously applied for…