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LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

Learning structures of 3D shapes is a fundamental problem in the field of computer graphics and geometry processing. We present a simple yet interpretable unsupervised method for learning a new structural representation in the form of 3D…

Shape priors have long been known to be effective when reconstructing 3D shapes from noisy or incomplete data. When using a deep-learning based shape representation, this often involves learning a latent representation, which can be either…

A neural implicit outputs a number indicating whether the given query point in space is inside, outside, or on a surface. Many prior works have focused on _latent-encoded_ neural implicits, where a latent vector encoding of a specific shape…

We propose a novel neural architecture for representing 3D surfaces, which harnesses two complementary shape representations: (i) an explicit representation via an atlas, i.e., embeddings of 2D domains into 3D; (ii) an implicit-function…

Existing 3D surface representation approaches are unable to accurately classify pixels and their orientation lying on the boundary of an object. Thus resulting in coarse representations which usually require post-processing steps to extract…

We introduce latent intuitive physics, a transfer learning framework for physics simulation that can infer hidden properties of fluids from a single 3D video and simulate the observed fluid in novel scenes. Our key insight is to use latent…

Manifold learning aims to discover and represent low-dimensional structures underlying high-dimensional data while preserving critical topological and geometric properties. Existing methods often fail to capture local details with global…

Learning-based 3D reconstruction using implicit neural representations has shown promising progress not only at the object level but also in more complicated scenes. In this paper, we propose Dynamic Plane Convolutional Occupancy Networks,…

We propose a novel shape representation useful for analyzing and processing shape collections, as well for a variety of learning and inference tasks. Unlike most approaches that capture variability in a collection by using a template model…

Autoencoders exhibit impressive abilities to embed the data manifold into a low-dimensional latent space, making them a staple of representation learning methods. However, without explicit supervision, which is often unavailable, the…

Learning-based 3D reconstruction methods have shown impressive results. However, most methods require 3D supervision which is often hard to obtain for real-world datasets. Recently, several works have proposed differentiable rendering…

This paper introduces Attentive Implicit Representation Networks (AIR-Nets), a simple, but highly effective architecture for 3D reconstruction from point clouds. Since representing 3D shapes in a local and modular fashion increases…

Implicit 3D surface reconstruction of an object from its partial and noisy 3D point cloud scan is the classical geometry processing and 3D computer vision problem. In the literature, various 3D shape representations have been developed,…

Building a robust perception module is crucial for visuomotor policy learning. While recent methods incorporate pre-trained 2D foundation models into robotic perception modules to leverage their strong semantic understanding, they struggle…

This paper addresses key challenges in object-centric representation learning of video. While existing approaches struggle with complex scenes, we propose a novel weakly-supervised framework that emphasises geometric understanding and…

Machine learning approaches to spatiotemporal physical systems have primarily focused on next-frame prediction, with the goal of learning an accurate emulator for the system's evolution in time. However, these emulators are computationally…

We introduce a latent 3D representation that models 3D surfaces as probability density functions in 3D, i.e., p(x,y,z), with flow-matching. Our representation is specifically designed for consumption by machine learning models, offering…

Neural models learn representations of high-dimensional data on low-dimensional manifolds. Multiple factors, including stochasticities in the training process, model architectures, and additional inductive biases, may induce different…

Despite remarkable progress in computer vision, modern recognition systems remain fundamentally limited by their dependence on rich, redundant visual inputs. In contrast, humans can effortlessly understand sparse, minimal representations…