相关论文: Continual Learning for Pose-Agnostic Object Recogn…

In the realm of point cloud scene understanding, particularly in indoor scenes, objects are arranged following human habits, resulting in objects of certain semantics being closely positioned and displaying notable inter-object…

We present two novel solutions for multi-view 3D human pose estimation based on new learnable triangulation methods that combine 3D information from multiple 2D views. The first (baseline) solution is a basic differentiable algebraic…

We propose a method for self-supervised image representation learning under the guidance of 3D geometric consistency. Our intuition is that 3D geometric consistency priors such as smooth regions and surface discontinuities may imply…

Visual Imitation learning has achieved remarkable progress in robotic manipulation, yet generalization to unseen objects, scene layouts, and camera viewpoints remains a key challenge. Recent advances address this by using 3D point clouds,…

Given a collection of images, humans are able to discover landmarks by modeling the shared geometric structure across instances. This idea of geometric equivariance has been widely used for the unsupervised discovery of object landmark…

Recent advances in imitation learning and vision-language models highlight the need for high-fidelity tactile perception, with 6-DoF tactile object pose estimation providing a crucial foundation for precise robotic manipulation. We…

Learning point clouds is challenging due to the lack of connectivity information, i.e., edges. Although existing edge-aware methods can improve the performance by modeling edges, how edges contribute to the improvement is unclear. In this…

We propose an algorithm for meta-learning that is model-agnostic, in the sense that it is compatible with any model trained with gradient descent and applicable to a variety of different learning problems, including classification,…

We present a novel approach to learning a point-wise, meaningful embedding for point-clouds in an unsupervised manner, through the use of neural-networks. The domain of point-cloud processing via neural-networks is rapidly evolving, with…

6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…

Point cloud completion networks are conventionally trained to minimize the disparities between the completed point cloud and the ground-truth counterpart. However, an incomplete object-level point cloud can have multiple valid completion…

Many robot manipulation tasks can be framed as geometric reasoning tasks, where an agent must be able to precisely manipulate an object into a position that satisfies the task from a set of initial conditions. Often, task success is defined…

Continual learning aims to learn tasks sequentially, with (often severe) constraints on the storage of old learning samples, without suffering from catastrophic forgetting. In this work, we propose prescient continual learning, a novel…

A prior represents a set of beliefs or assumptions about a system, aiding inference and decision-making. In this paper, we introduce the challenge of unsupervised categorical prior learning in pose estimation, where AI models learn a…

Human motion prediction is an essential component for enabling closer human-robot collaboration. The task of accurately predicting human motion is non-trivial. It is compounded by the variability of human motion, both at a skeletal level…

6D object pose estimation is a fundamental yet challenging problem in computer vision. Convolutional Neural Networks (CNNs) have recently proven to be capable of predicting reliable 6D pose estimates even under monocular settings.…

Continual learning aims to improve the ability of modern learning systems to deal with non-stationary distributions, typically by attempting to learn a series of tasks sequentially. Prior art in the field has largely considered supervised…

Accurate 3D geometry acquisition is essential for a wide range of applications, such as computer graphics, autonomous driving, robotics, and augmented reality. However, raw point clouds acquired in real-world environments are often…

Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…

During the last few years, continual learning (CL) strategies for image classification and segmentation have been widely investigated designing innovative solutions to tackle catastrophic forgetting, like knowledge distillation and…