相关论文: AssembleRL: Learning to Assemble Furniture from Th…

On robotics computer vision tasks, generating and annotating large amounts of data from real-world for the use of deep learning-based approaches is often difficult or even impossible. A common strategy for solving this problem is to apply…

Assembly is a key industrial process to achieve finished goods. Driven by market demographics and technological advancements, industrial assembly has evolved through several phases i.e. craftmanship, bench assembly, assembly lines and…

Robot assembly discovery is a challenging problem that lives at the intersection of resource allocation and motion planning. The goal is to combine a predefined set of objects to form something new while considering task execution with the…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

We propose a new approach to human clothing modeling based on point clouds. Within this approach, we learn a deep model that can predict point clouds of various outfits, for various human poses, and for various human body shapes. Notably,…

We report a novel, computationally efficient approach for solving hard nonlinear problems of reinforcement learning (RL). Here we combine umbrella sampling, from computational physics/chemistry, with optimal control methods. The approach is…

We introduce a novel technique for neural point cloud consolidation which learns from only the input point cloud. Unlike other point upsampling methods which analyze shapes via local patches, in this work, we learn from global subsets. We…

This paper addresses the problem of generating dense point clouds from given sparse point clouds to model the underlying geometric structures of objects/scenes. To tackle this challenging issue, we propose a novel end-to-end learning-based…

Bundling, the practice of jointly selling two or more products at a discount, is a widely used strategy in industry and a well examined concept in academia. Historically, the focus has been on theoretical studies in the context of…

Efficient authoring of vast virtual environments hinges on algorithms that are able to automatically generate content while also being controllable. We propose a method to automatically generate furniture layouts for indoor environments.…

3D articulated objects are inherently challenging for manipulation due to the varied geometries and intricate functionalities associated with articulated objects.Point-level affordance, which predicts the per-point actionable score and thus…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

We show that neural networks trained by evolutionary reinforcement learning can enact efficient molecular self-assembly protocols. Presented with molecular simulation trajectories, networks learn to change temperature and chemical potential…

Reinforcement learning (RL), a common tool in decision making, learns control policies from various experiences based on the associated cumulative return/rewards without treating them differently. Humans, on the contrary, often learn to…

Contact-rich robotic skills remain challenging for industrial robots due to tight geometric tolerances, frictional variability, and uncertain contact dynamics, particularly when using position-controlled manipulators. This paper presents a…

When faced with learning challenging new tasks, humans often follow sequences of steps that allow them to incrementally build up the necessary skills for performing these new tasks. However, in machine learning, models are most often…

High quality upsampling of sparse 3D point clouds is critically useful for a wide range of geometric operations such as reconstruction, rendering, meshing, and analysis. In this paper, we propose a data-driven algorithm that enables an…

Discrete point cloud objects lack sufficient shape descriptors of 3D geometries. In this paper, we present a novel method for aggregating hypothetical curves in point clouds. Sequences of connected points (curves) are initially grouped by…

Previous LLMs-based RL studies typically follow either supervised learning with high annotation costs, or unsupervised paradigms using voting or entropy-based rewards. However, their performance remains far from satisfactory due to the…

Learning to autonomously assemble shapes is a crucial skill for many robotic applications. While the majority of existing part assembly methods focus on correctly posing semantic parts to recreate a whole object, we interpret assembly more…