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

We explore a novel method to perceive and manipulate 3D articulated objects that generalizes to enable a robot to articulate unseen classes of objects. We propose a vision-based system that learns to predict the potential motions of the…

Point cloud denoising aims to restore clean point clouds from raw observations corrupted by noise and outliers while preserving the fine-grained details. We present a novel deep learning-based denoising model, that incorporates normalizing…

3D scene flow estimation aims to estimate point-wise motions between two consecutive frames of point clouds. Superpoints, i.e., points with similar geometric features, are usually employed to capture similar motions of local regions in 3D…

Long-horizon planning for robot manipulation is a challenging problem that requires reasoning about the effects of a sequence of actions on a physical 3D scene. While traditional task planning methods are shown to be effective for…

Deformable object manipulation presents a unique set of challenges in robotic manipulation by exhibiting high degrees of freedom and severe self-occlusion. State representation for materials that exhibit plastic behavior, like modeling clay…

We introduce a new trajectory optimization method for robotic grasping based on a point-cloud representation of robots and task spaces. In our method, robots are represented by 3D points on their link surfaces. The task space of a robot is…

3D point cloud registration is a fundamental task in robotics and computer vision. Recently, many learning-based point cloud registration methods based on correspondences have emerged. However, these methods heavily rely on such…

Flow-based generative models are composed of invertible transformations between two random variables of the same dimension. Therefore, flow-based models cannot be adequately trained if the dimension of the data distribution does not match…

Scene flow is the three-dimensional (3D) motion field of a scene. It provides information about the spatial arrangement and rate of change of objects in dynamic environments. Current learning-based approaches seek to estimate the scene flow…

3D point cloud is an efficient and flexible representation of 3D structures. Recently, neural networks operating on point clouds have shown superior performance on 3D understanding tasks such as shape classification and part segmentation.…

Point cloud analysis is an area of increasing interest due to the development of 3D sensors that are able to rapidly measure the depth of scenes accurately. Unfortunately, applying deep learning techniques to perform point cloud analysis is…

Since the PointNet was proposed, deep learning on point cloud has been the concentration of intense 3D research. However, existing point-based methods usually are not adequate to extract the local features and the spatial pattern of a point…

Generative flow networks (GFlowNets), as an emerging technique, can be used as an alternative to reinforcement learning for exploratory control tasks. GFlowNet aims to generate distribution proportional to the rewards over terminating…

Coordinating the motion of robots with high degrees of freedom (DoF) to grasp objects gives rise to many challenges. In this paper, we propose a novel imitation learning approach to learn a policy that directly predicts 23 DoF grasp…

This paper presents a novel physics-inspired deep learning approach for point cloud processing motivated by the natural flow phenomena in fluid mechanics. Our learning architecture jointly defines data in an Eulerian world space, using a…

We aim to develop an algorithm for robots to manipulate novel objects as tools for completing different task goals. An efficient and informative representation would facilitate the effectiveness and generalization of such algorithms. For…

We propose a novel end-to-end deep scene flow model, called PointPWC-Net, on 3D point clouds in a coarse-to-fine fashion. Flow computed at the coarse level is upsampled and warped to a finer level, enabling the algorithm to accommodate for…

Machine learning for point clouds has been attracting much attention, with many applications in various fields, such as shape recognition and material science. For enhancing the accuracy of such machine learning methods, it is often…

Point cloud processing as a fundamental task in the field of geomatics and computer vision, has been supporting tasks and applications at different scales from air to ground, including mapping, environmental monitoring, urban/tree structure…

Learning robust visuomotor policies that generalize across diverse objects and interaction dynamics remains a central challenge in robotic manipulation. Most existing approaches rely on direct observation-to-action mappings or compress…