相关论文: Planning with Spatial-Temporal Abstraction from Po…
Recent temporal LiDAR-based 3D object detectors achieve promising performance based on the two-stage proposal-based approach. They generate 3D box candidates from the first-stage dense detector, followed by different temporal aggregation…
To date, various 3D scene understanding tasks still lack practical and generalizable pre-trained models, primarily due to the intricate nature of 3D scene understanding tasks and their immense variations introduced by camera views,…
Temporal reasoning is an important aspect of video analysis. 3D CNN shows good performance by exploring spatial-temporal features jointly in an unconstrained way, but it also increases the computational cost a lot. Previous works try to…
Learning robotic manipulation policies through supervised learning from demonstrations remains challenging when policies encounter execution variations not explicitly covered during training. While incorporating historical context through…
Learning structured representations of visual scenes is currently a major bottleneck to bridging perception with reasoning. While there has been exciting progress with slot-based models, which learn to segment scenes into sets of objects,…
We present a new versatile building block for deep point cloud processing architectures that is equally suited for diverse tasks. This building block combines the ideas of spatial transformers and multi-view convolutional networks with the…
Reconstructing the surfaces of deformable objects from correspondences between a 3D template and a 2D image is well studied under Shape-from-Template (SfT) methods; however, existing approaches break down when topological changes accompany…
Detecting unseen anomalies in unstructured environments presents a critical challenge for industrial and agricultural applications such as material recycling and weeding. Existing perception systems frequently fail to satisfy the strict…
This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the navigation of each agent among predefined regions of…
Point cloud surface reconstruction has improved in accuracy with advances in deep learning, enabling applications such as infrastructure inspection. Recent approaches that reconstruct from small local regions rather than entire point clouds…
Manipulation of large objects over long horizons (such as carts in a warehouse) is an essential skill for deployable robotic systems. Large objects require mobile manipulation which involves simultaneous manipulation, navigation, and…
We propose a spatial-constraint approach for modeling spatial-based interactions and enabling interactive visualizations, which involves the manipulation of visualizations through selection, filtering, navigation, arrangement, and…
Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…
Existing point cloud representation learning methods primarily rely on data-driven strategies to extract geometric information from large amounts of scattered data. However, most methods focus solely on the spatial distribution features of…
Recent world-model-based Vision-Language-Action (VLA) architectures have improved robotic manipulation through predictive visual foresight. However, dense future prediction introduces visual redundancy and accumulates errors, causing…
The recent advances in 3D sensing technology have made possible the capture of point clouds in significantly high resolution. However, increased detail usually comes at the expense of high storage, as well as computational costs in terms of…
We present ASIST, a technique for transforming point clouds by replacing objects with their semantically equivalent counterparts. Transformations of this kind have applications in virtual reality, repair of fused scans, and robotics. ASIST…
We propose a local-to-global representation learning algorithm for 3D point cloud data, which is appropriate to handle various geometric transformations, especially rotation, without explicit data augmentation with respect to the…
This paper presents a hierarchical motion planner for planning the manipulation motion to repose long and heavy objects considering external support surfaces. The planner includes a task level layer and a motion level layer. We formulate…
Manipulating deformable objects remains a challenge within robotics due to the difficulties of state estimation, long-horizon planning, and predicting how the object will deform given an interaction. These challenges are the most pronounced…