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

Learning new representations of 3D point clouds is an active research area in 3D vision, as the order-invariant point cloud structure still presents challenges to the design of neural network architectures. Recent works explored learning…

Current methodologies in point cloud analysis predominantly explore 3D geometries, often achieved through the introduction of intricate learnable geometric extractors in the encoder or by deepening networks with repeated blocks. However,…

Deep neural networks have made significant advancements in accurately estimating scene flow using point clouds, which is vital for many applications like video analysis, action recognition, and navigation. The robustness of these…

Processing large point clouds is a challenging task. Therefore, the data is often downsampled to a smaller size such that it can be stored, transmitted and processed more efficiently without incurring significant performance degradation.…

In this paper, we propose a point cloud classification method based on graph neural network and manifold learning. Different from the conventional point cloud analysis methods, this paper uses manifold learning algorithms to embed point…

We propose a novel scene flow method that captures 3D motions from point clouds without relying on ground-truth scene flow annotations. Due to the irregularity and sparsity of point clouds, it is expensive and time-consuming to acquire…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…

3D point cloud semantic segmentation aims to group all points into different semantic categories, which benefits important applications such as point cloud scene reconstruction and understanding. Existing supervised point cloud semantic…

Aerial operation in turbulent environments is a challenging problem due to the chaotic behavior of the flow. This problem is made even more complex when a team of aerial robots is trying to achieve coordinated motion in turbulent wind…

We propose the use of a Transformer to accurately predict normals from point clouds with noise and density variations. Previous learning-based methods utilize PointNet variants to explicitly extract multi-scale features at different input…

In this paper, we study the problem of task-oriented grasp synthesis from partial point cloud data using an eye-in-hand camera configuration. In task-oriented grasp synthesis, a grasp has to be selected so that the object is not lost during…

Point cloud is often regarded as a discrete sampling of Riemannian manifold and plays a pivotal role in the 3D image interpretation. Particularly, rotation perturbation, an unexpected small change in rotation caused by various factors (like…

The analyses relying on 3D point clouds are an utterly complex task, often involving million of points, but also requiring computationally efficient algorithms because of many real-time applications; e.g. autonomous vehicle. However, point…

Point clouds acquired by 3D scanning devices are often sparse, noisy, and non-uniform, causing a loss of geometric features. To facilitate the usability of point clouds in downstream applications, given such input, we present a…

We present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, efficiently adapting large-scale models to downstream scene affordance understanding tasks, especially in daily living scenarios…

Robotic manipulation in high-precision tasks is essential for numerous industrial and real-world applications where accuracy and speed are required. Yet current diffusion-based policy learning methods generally suffer from low computational…

We propose a novel approach to self-supervised learning of point cloud representations by differentiable neural rendering. Motivated by the fact that informative point cloud features should be able to encode rich geometry and appearance…

Although recent point cloud analysis achieves impressive progress, the paradigm of representation learning from a single modality gradually meets its bottleneck. In this work, we take a step towards more discriminative 3D point cloud…

Autonomous systems that efficiently utilize tools can assist humans in completing many common tasks such as cooking and cleaning. However, current systems fall short of matching human-level of intelligence in terms of adapting to novel…

We study how choices of input point cloud coordinate frames impact learning of manipulation skills from 3D point clouds. There exist a variety of coordinate frame choices to normalize captured robot-object-interaction point clouds. We find…