Related papers: Robust Point Cloud Reinforcement Learning via PCA-…

Contrastive learning is an essential method in self-supervised learning. It primarily employs a multi-branch strategy to compare latent representations obtained from different branches and train the encoder. In the case of multi-modal…

Robust principal component analysis (RPCA) is a critical tool in modern machine learning, which detects outliers in the task of low-rank matrix reconstruction. In this paper, we propose a scalable and learnable non-convex approach for…

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,…

Category-level object pose estimation aims to predict the 6D pose and 3D size of objects within given categories. Existing approaches for this task rely solely on 6D poses as supervisory signals without explicitly capturing the intrinsic…

Point cloud registration involves aligning one point cloud with another or with a three-dimensional (3D) model, enabling the integration of multimodal data into a unified representation. This is essential in applications such as…

Continual Learning aims to learn multiple incoming new tasks continually, and to keep the performance of learned tasks at a consistent level. However, existing research on continual learning assumes the pose of the object is pre-defined and…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

3D point cloud registration in remote sensing field has been greatly advanced by deep learning based methods, where the rigid transformation is either directly regressed from the two point clouds (correspondences-free approaches) or…

Reinforcement Learning (RL) has demonstrated a great potential for automatically solving decision-making problems in complex uncertain environments. RL proposes a computational approach that allows learning through interaction in an…

Contrastive learning has shown impressive success in enhancing feature discriminability for various visual tasks in a self-supervised manner, but the standard contrastive paradigm (features+$\ell_{2}$ normalization) has limited benefits…

As reinforcement learning (RL) has achieved near human-level performance in a variety of tasks, its robustness has raised great attention. While a vast body of research has explored test-time (evasion) attacks in RL and corresponding…

Text-to-point-cloud cross-modal localization is an emerging vision-language task critical for future robot-human collaboration. It seeks to localize a position from a city-scale point cloud scene based on a few natural language…

The task of learning from point cloud data is always challenging due to the often occurrence of noise and outliers in the data. Such data inaccuracies can significantly influence the performance of state-of-the-art deep learning networks…

We introduce Rectified Point Flow, a unified parameterization that formulates pairwise point cloud registration and multi-part shape assembly as a single conditional generative problem. Given unposed point clouds, our method learns a…

PointNet has revolutionized how we think about representing point clouds. For classification and segmentation tasks, the approach and its subsequent extensions are state-of-the-art. To date, the successful application of PointNet to point…

The aim of the project is to investigate and assess opportunities for applying reinforcement learning (RL) for power system control. As a proof of concept (PoC), voltage control of thermostatically controlled loads (TCLs) for power…

We propose a low-rank transformation-learning framework to robustify subspace clustering. Many high-dimensional data, such as face images and motion sequences, lie in a union of low-dimensional subspaces. The subspace clustering problem has…

Recent advances in computer vision and deep learning have shown promising performance in estimating rigid/similarity transformation between unregistered point clouds of complex objects and scenes. However, their performances are mostly…

The Iterative Closest Point (ICP) algorithm is a crucial component of LiDAR-based SLAM algorithms. However, its performance can be negatively affected in unstructured environments that lack features and geometric structures, leading to low…

Model predictive control (MPC) is a powerful trajectory optimization control technique capable of controlling complex nonlinear systems while respecting system constraints and ensuring safe operation. The MPC's capabilities come at the cost…