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

Continual learning has been extensively studied for classification tasks with methods developed to primarily avoid catastrophic forgetting, a phenomenon where earlier learned concepts are forgotten at the expense of more recent samples. In…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

We propose a unified point cloud video self-supervised learning framework for object-centric and scene-centric data. Previous methods commonly conduct representation learning at the clip or frame level and cannot well capture fine-grained…

State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction…

The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…

Recent deep learning architectures can recognize instances of 3D point cloud objects of previously seen classes quite well. At the same time, current 3D depth camera technology allows generating/segmenting a large amount of 3D point cloud…

Grasping unknown objects from a single view has remained a challenging topic in robotics due to the uncertainty of partial observation. Recent advances in large-scale models have led to benchmark solutions such as GraspNet-1Billion.…

Continual learning aims to sequentially learn new tasks without forgetting previous tasks' knowledge (catastrophic forgetting). One factor that can cause forgetting is the interference between the gradients on losses from different tasks.…

The convenience of 3D sensors has led to an increase in the use of 3D point clouds in various applications. However, the differences in acquisition devices or scenarios lead to divergence in the data distribution of point clouds, which…

Point cloud analysis has drawn broader attentions due to its increasing demands in various fields. Despite the impressive performance has been achieved on several databases, researchers neglect the fact that the orientation of those point…

With the rapid progress of deep convolutional neural networks, in almost all robotic applications, the availability of 3D point clouds improves the accuracy of 3D semantic segmentation methods. Rendering of these irregular, unstructured,…

While end-to-end approaches have achieved state-of-the-art performance in many perception tasks, they are not yet able to compete with 3D geometry-based methods in pose estimation. Moreover, absolute pose regression has been shown to be…

The ability to learn continually without forgetting the past tasks is a desired attribute for artificial learning systems. Existing approaches to enable such learning in artificial neural networks usually rely on network growth, importance…

The ability to learn new concepts while preserve the learned knowledge is desirable for learning systems in Class-Incremental Learning (CIL). Recently, feature expansion of the model become a prevalent solution for CIL, where the old…

Learning neural implicit fields of 3D shapes is a rapidly emerging field that enables shape representation at arbitrary resolutions. Due to the flexibility, neural implicit fields have succeeded in many research areas, including shape…

Object pose estimation is an integral part of robot vision and AR. Previous 6D pose retrieval pipelines treat the problem either as a regression task or discretize the pose space to classify. We change this paradigm and reformulate the…

Self-supervised deep learning-based 3D scene understanding methods can overcome the difficulty of acquiring the densely labeled ground-truth and have made a lot of advances. However, occlusions and moving objects are still some of the major…

Zero-shot learning, the task of learning to recognize new classes not seen during training, has received considerable attention in the case of 2D image classification. However, despite the increasing ubiquity of 3D sensors, the…

Continual learning aims to train a model incrementally on a sequence of tasks without forgetting previous knowledge. Although continual learning has been widely studied in computer vision, its application to Vision+Language tasks is not…

Continual learning aims to provide intelligent agents capable of learning multiple tasks sequentially with neural networks. One of its main challenging, catastrophic forgetting, is caused by the neural networks non-optimal ability to learn…