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

Imitation Learning is a promising paradigm for learning complex robot manipulation skills by reproducing behavior from human demonstrations. However, manipulation tasks often contain bottleneck regions that require a sequence of precise…

Few-shot imitation learning relies on only a small amount of task-specific demonstrations to efficiently adapt a policy for a given downstream tasks. Retrieval-based methods come with a promise of retrieving relevant past experiences to…

Over the past two decades, we have seen an exponentially increased amount of point clouds collected with irregular shapes in various areas. Motivated by the importance of solid modeling for point clouds, we develop a novel and efficient…

Environmental information can provide reliable prior information about human motion intent, which can aid the subject with wearable robotics to walk in complex environments. Previous researchers have utilized 1D signal and 2D images to…

Deep learning with 3D data has progressed significantly since the introduction of convolutional neural networks that can handle point order ambiguity in point cloud data. While being able to achieve good accuracies in various scene…

Generative Flow Networks (GFlowNets) are a new family of probabilistic samplers where an agent learns a stochastic policy for generating complex combinatorial structure through a series of decision-making steps. Despite being inspired from…

Scene flow represents the 3D motion of every point in the dynamic environments. Like the optical flow that represents the motion of pixels in 2D images, 3D motion representation of scene flow benefits many applications, such as autonomous…

Point cloud filtering, the main bottleneck of which is removing noise (outliers) while preserving geometric features, is a fundamental problem in 3D field. The two-step schemes involving normal estimation and position update have been shown…

Being able to explore unknown environments is a requirement for fully autonomous robots. Many learning-based methods have been proposed to learn an exploration strategy. In the frontier-based exploration, learning algorithms tend to learn…

Deep neural networks have revolutionized 3D point cloud processing, yet efficiently handling large and irregular point clouds remains challenging. To tackle this problem, we introduce FastPoint, a novel software-based acceleration technique…

Shape servoing, a robotic task dedicated to controlling objects to desired goal shapes, is a promising approach to deformable object manipulation. An issue arises, however, with the reliance on the specification of a goal shape. This goal…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

Generative manipulation policies can fail catastrophically under deployment-time distribution shift, yet many failures are near-misses: the robot reaches almost-correct poses and would succeed with a small corrective motion. We propose…

Point cloud processing has gained significant attention due to its critical role in applications such as autonomous driving and 3D object recognition. However, deploying high-performance models like Point Transformer V3 in…

Capsule networks (CapsNets) have recently shown promise to excel in most computer vision tasks, especially pertaining to scene understanding. In this paper, we explore CapsNet's capabilities in optical flow estimation, a task at which…

Using a layered representation for motion estimation has the advantage of being able to cope with discontinuities and occlusions. In this paper, we learn to estimate optical flow by combining a layered motion representation with deep…

Foundational language models show a remarkable ability to learn new concepts during inference via context data. However, similar work for images lag behind. To address this challenge, we introduce FLoWN, a flow matching model that learns to…

In this paper, we explore point-cloud based deep learning models to analyze numerical simulations arising from finite element analysis. The objective is to classify automatically the results of the simulations without tedious human…

Point cloud filtering is a fundamental problem in geometry modeling and processing. Despite of significant advancement in recent years, the existing methods still suffer from two issues: 1) they are either designed without preserving sharp…

Existing learning-based surface reconstruction methods from point clouds are still facing challenges in terms of scalability and preservation of details on large-scale point clouds. In this paper, we propose the SSRNet, a novel scalable…