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With the rapid progress of multimodal foundation models and predictive pre-training, an important open question is how to equip 3D point clouds with a pre-training paradigm that is better aligned with next-token and next-embedding learning.…

With the popularity of 3D sensors in self-driving and other robotics applications, extensive research has focused on designing novel neural network architectures for accurate 3D point cloud completion. However, unlike in point cloud…

This paper proposes a general solution to enable point cloud recognition models to handle distribution shifts at test time. Unlike prior methods, which rely heavily on training data (often inaccessible during online inference) and are…

Deep 3D point cloud models are sensitive to adversarial attacks, which poses threats to safety-critical applications such as autonomous driving. Robust training and defend-by-denoising are typical strategies for defending adversarial…

Large language models (LLMs) based on the generative pre-training transformer (GPT) have demonstrated remarkable effectiveness across a diverse range of downstream tasks. Inspired by the advancements of the GPT, we present PointGPT, a novel…

Adversarial training (AT) aims to improve the robustness of deep learning models by mixing clean data and adversarial examples (AEs). Most existing AT approaches can be grouped into restricted and unrestricted approaches. Restricted AT…

Three-dimensional point cloud anomaly detection that aims to detect anomaly data points from a training set serves as the foundation for a variety of applications, including industrial inspection and autonomous driving. However, existing…

Vision transformers (ViTs) have recently been widely applied to 3D point cloud understanding, with masked autoencoding as the predominant pre-training paradigm. However, the challenge of learning dense and informative semantic features from…

Large and rich data is a prerequisite for effective training of deep neural networks. However, the irregularity of point cloud data makes manual annotation time-consuming and laborious. Self-supervised representation learning, which…

In this work we introduce Salient Information Preserving Adversarial Training (SIP-AT), an intuitive method for relieving the robustness-accuracy trade-off incurred by traditional adversarial training. SIP-AT uses salient image regions to…

Deep learning is increasingly being used to perform machine vision tasks such as classification, object detection, and segmentation on 3D point cloud data. However, deep learning inference is computationally expensive. The limited…

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…

Deep neural networks for 3D point cloud classification, such as PointNet, have been demonstrated to be vulnerable to adversarial attacks. Current adversarial defenders often learn to denoise the (attacked) point clouds by reconstruction,…

Deep neural networks have recently achieved notable progress in 3D point cloud recognition, yet their vulnerability to adversarial perturbations poses critical security challenges in practical deployments. Conventional defense mechanisms…

The irregular domain and lack of ordering make it challenging to design deep neural networks for point cloud processing. This paper presents a novel framework named Point Cloud Transformer(PCT) for point cloud learning. PCT is based on…

Adversarial training (AT) has been demonstrated as one of the most promising defense methods against various adversarial attacks. To our knowledge, existing AT-based methods usually train with the locally most adversarial perturbed points…

Despite remarkable performance across a broad range of tasks, neural networks have been shown to be vulnerable to adversarial attacks. Many works focus on adversarial attacks and defenses on 2D images, but few focus on 3D point clouds. In…

Point cloud data now are popular data representations in a number of three-dimensional (3D) vision research realms. However, due to the limited performance of sensors and sensing noise, the raw data usually suffer from sparsity, noise, and…

Recent research efforts on 3D point cloud semantic segmentation (PCSS) have achieved outstanding performance by adopting neural networks. However, the robustness of these complex models have not been systematically analyzed. Given that PCSS…

Point cloud is point sets defined in 3D metric space. Point cloud has become one of the most significant data format for 3D representation. Its gaining increased popularity as a result of increased availability of acquisition devices, such…