相关论文: ToolFlowNet: Robotic Manipulation with Tools via P…

Humans can imagine goal states during planning and perform actions to match those goals. In this work, we propose Imagination Policy, a novel multi-task key-frame policy network for solving high-precision pick and place tasks. Instead of…

Building robotic agents capable of operating across diverse environments and object types remains a significant challenge, often requiring extensive data collection. This is particularly restrictive in robotics, where each data point must…

We present a novel and flexible architecture for point cloud segmentation with dual-representation iterative learning. In point cloud processing, different representations have their own pros and cons. Thus, finding suitable ways to…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

In this paper, we deal with the problem to predict the future 3D motions of 3D object scans from previous two consecutive frames. Previous methods mostly focus on sparse motion prediction in the form of skeletons. While in this paper we…

Predicting the future can significantly improve the safety of intelligent vehicles, which is a key component in autonomous driving. 3D point clouds accurately model 3D information of surrounding environment and are crucial for intelligent…

Scene flow estimation, which extracts point-wise motion between scenes, is becoming a crucial task in many computer vision tasks. However, all of the existing estimation methods utilize only the unidirectional features, restricting the…

Point cloud upsampling aims to generate dense point clouds from given sparse ones, which is a challenging task due to the irregular and unordered nature of point sets. To address this issue, we present a novel deep learning-based model,…

A robot operating in a real-world environment needs to perform reasoning over a variety of sensor modalities such as vision, language and motion trajectories. However, it is extremely challenging to manually design features relating such…

Recently normalizing flows (NFs) have demonstrated state-of-the-art performance on modeling 3D point clouds while allowing sampling with arbitrary resolution at inference time. However, these flow-based models still require long training…

We present two novel generative geometric deep learning frameworks, termed Flow Matching PointNet and Diffusion PointNet, for predicting fluid flow variables on irregular geometries by incorporating PointNet into flow matching and diffusion…

The proposed RMS-FlowNet is a novel end-to-end learning-based architecture for accurate and efficient scene flow estimation which can operate on point clouds of high density. For hierarchical scene flow estimation, the existing methods…

We propose a novel normal estimation method called HSurf-Net, which can accurately predict normals from point clouds with noise and density variations. Previous methods focus on learning point weights to fit neighborhoods into a geometric…

Generative flow networks (GFlowNets) are a family of algorithms that learn a generative policy to sample discrete objects $x$ with non-negative reward $R(x)$. Learning objectives guarantee the GFlowNet samples $x$ from the target…

Reorienting objects by using supports is a practical yet challenging manipulation task. Owing to the intricate geometry of objects and the constrained feasible motions of the robot, multiple manipulation steps are required for object…

Point clouds are naturally sparse, while image pixels are dense. The inconsistency limits feature fusion from both modalities for point-wise scene flow estimation. Previous methods rarely predict scene flow from the entire point clouds of…

In this paper, we propose a simple yet effective method to represent point clouds as sets of samples drawn from a cloud-specific probability distribution. This interpretation matches intrinsic characteristics of point clouds: the number of…

In the domain of supervised scene flow estimation, the process of manual labeling is both time-intensive and financially demanding. This paper introduces SSFlowNet, a semi-supervised approach for scene flow estimation, that utilizes a blend…

Understanding and manipulating articulated objects, such as doors and drawers, is crucial for robots operating in human environments. We wish to develop a system that can learn to articulate novel objects with no prior interaction, after…

Object reconstruction from 3D point clouds has been a long-standing research problem in computer vision and computer graphics, and achieved impressive progress. However, reconstruction from time-varying point clouds (a.k.a. 4D point clouds)…