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As two fundamental representation modalities of 3D objects, 3D point clouds and multi-view 2D images record shape information from different domains of geometric structures and visual appearances. In the current deep learning era,…

The rise of deep learning has marked significant progress in fields such as computer vision, natural language processing, and medical imaging, primarily through the adaptation of pre-trained models for specific tasks. Traditional…

Point cloud video understanding is critical for robotics as it accurately encodes motion and scene interaction. We recognize that 4D datasets are far scarcer than 3D ones, which hampers the scalability of self-supervised 4D models. A…

Robotic agents need to understand how to interact with objects in their environment, both autonomously and during human-robot interactions. Affordance detection on 3D point clouds, which identifies object regions that allow specific…

Understanding dynamic 3D environment is crucial for robotic agents and many other applications. We propose a novel neural network architecture called $MeteorNet$ for learning representations for dynamic 3D point cloud sequences. Different…

Point clouds are a basic data type that is increasingly of interest as 3D content becomes more ubiquitous. Applications using point clouds include virtual, augmented, and mixed reality and autonomous driving. We propose a more efficient…

Advances in self-supervised learning are essential for enhancing feature extraction and understanding in point cloud processing. This paper introduces PMT-MAE (Point MLP-Transformer Masked Autoencoder), a novel self-supervised learning…

Although 3D point cloud data has received widespread attentions as a general form of 3D signal expression, applying point clouds to the task of dense correspondence estimation between 3D shapes has not been investigated widely. Furthermore,…

We introduce Monarch Sparse Tuning (MoST), the first reparameterization-based parameter-efficient fine-tuning (PEFT) method tailored for 3D representation learning. Unlike existing adapter-based and prompt-tuning 3D PEFT methods, MoST…

While 3D Multi-modal Large Language Models (MLLMs) demonstrate remarkable scene understanding capabilities, their practical deployment faces critical challenges due to computational inefficiency. The key bottleneck stems from processing…

Three-dimensional (3D) point clouds are increasingly used in applications such as autonomous driving, robotics, and virtual reality (VR). Point-based neural networks (PNNs) have demonstrated strong performance in point cloud analysis,…

Self-supervised learning of point cloud aims to leverage unlabeled 3D data to learn meaningful representations without reliance on manual annotations. However, current approaches face challenges such as limited data diversity and inadequate…

Feature learning for 3D object detection from point clouds is very challenging due to the irregularity of 3D point cloud data. In this paper, we propose Pointformer, a Transformer backbone designed for 3D point clouds to learn features…

For long-tailed classification, most works often pretrain a big model on a large-scale dataset, and then fine-tune the whole model for adapting to long-tailed data. Though promising, fine-tuning the whole pretrained model tends to suffer…

Visual Parameter-Efficient Fine-Tuning (PEFT) has become a powerful alternative for full fine-tuning so as to adapt pre-trained vision models to downstream tasks, which only tunes a small number of parameters while freezing the vast…

In this paper, we propose PointRCNN for 3D object detection from raw point cloud. The whole framework is composed of two stages: stage-1 for the bottom-up 3D proposal generation and stage-2 for refining proposals in the canonical…

Why can pre-trained language models (PLMs) learn universal representations and effectively adapt to broad NLP tasks differing a lot superficially? In this work, we empirically find evidence indicating that the adaptations of PLMs to various…

An efficient 3D point cloud learning architecture, named EfficientLO-Net, for LiDAR odometry is first proposed in this paper. In this architecture, the projection-aware representation of the 3D point cloud is proposed to organize the raw 3D…

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…

Deep neural networks are widely used for understanding 3D point clouds. At each point convolution layer, features are computed from local neighborhoods of 3D points and combined for subsequent processing in order to extract semantic…