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The global self-attention mechanism in diffusion transformers involves redundant computation due to the sparse and redundant nature of visual information, and the attention map of tokens within a spatial window shows significant similarity.…

Reconstructing hand-held objects in 3D from monocular images remains a significant challenge in computer vision. Most existing approaches rely on implicit 3D representations, which produce overly smooth reconstructions and are…

We propose a fast and accurate surface reconstruction algorithm for unorganized point clouds using an implicit representation. Recent learning methods are either single-object representations with small neural models that allow for high…

LiDAR-based 3D single object tracking is a challenging issue in robotics and autonomous driving. Currently, existing approaches usually suffer from the problem that objects at long distance often have very sparse or partially-occluded point…

3D point cloud segmentation has made tremendous progress in recent years. Most current methods focus on aggregating local features, but fail to directly model long-range dependencies. In this paper, we propose Stratified Transformer that is…

Pseudo-LiDAR point cloud interpolation is a novel and challenging task in the field of autonomous driving, which aims to address the frequency mismatching problem between camera and LiDAR. Previous works represent the 3D spatial motion…

Although transformers have become the neural architectures of choice for natural language processing, they require orders of magnitude more training data, GPU memory, and computations in order to compete with convolutional neural networks…

Point cloud processing has gained significant attention due to its critical role in applications such as autonomous driving and 3D object recognition. However, deploying high-performance models like Point Transformer V3 in…

Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

Dexterous manipulation enables complex tasks but suffers from self-occlusion, severe depth noise, and depth information loss when manipulating transparent objects. To solve this problem, this paper proposes TransDex, a 3D visuo-tactile…

Diffusion Transformers (DiTs) have emerged as a leading architecture for text-to-image synthesis, producing high-quality and photorealistic images. However, the quadratic scaling properties of the attention in DiTs hinder image generation…

Recently, multi-modal masked autoencoders (MAE) has been introduced in 3D self-supervised learning, offering enhanced feature learning by leveraging both 2D and 3D data to capture richer cross-modal representations. However, these…

Point cloud registration is a fundamental task in the fields of computer vision and robotics. Recent developments in transformer-based methods have demonstrated enhanced performance in this domain. However, the standard attention mechanism…

Multimodal autoregressive (AR) models, based on next-token prediction and transformer architecture, have demonstrated remarkable capabilities in various multimodal tasks including text-to-image (T2I) generation. Despite their strong…

Point clouds, as a primary representation of 3D data, can be categorized into scene domain point clouds and object domain point clouds. Point cloud self-supervised learning (SSL) has become a mainstream paradigm for learning 3D…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

Existing point-cloud based 3D object detectors use convolution-like operators to process information in a local neighbourhood with fixed-weight kernels and aggregate global context hierarchically. However, non-local neural networks and…

Unlike Object Detection, Visual Grounding task necessitates the detection of an object described by complex free-form language. To simultaneously model such complex semantic and visual representations, recent state-of-the-art studies adopt…

The human brain can effortlessly recognize and localize objects, whereas current 3D object detection methods based on LiDAR point clouds still report inferior performance for detecting occluded and distant objects: the point cloud…

In this paper, we introduce a novel approach that harnesses both 2D and 3D attentions to enable highly accurate depth completion without requiring iterative spatial propagations. Specifically, we first enhance a baseline convolutional depth…