相关论文: Open-Vocabulary Affordance Detection in 3D Point C…

3D anomaly detection (3D-AD) plays a critical role in industrial manufacturing, particularly in ensuring the reliability and safety of core equipment components. Although existing 3D datasets like Real3D-AD and MVTec 3D-AD offer broad…

Locating and retrieving objects from scene-level point clouds is a challenging problem with broad applications in robotics and augmented reality. This task is commonly formulated as open-vocabulary 3D instance segmentation. Although recent…

Deep neural networks for 3D point cloud understanding have achieved remarkable success in object classification and recognition, yet recent work shows that these models remain highly vulnerable to adversarial perturbations. Existing 3D…

Transparent objects are widely used in our daily lives and therefore robots need to be able to handle them. However, transparent objects suffer from light reflection and refraction, which makes it challenging to obtain the accurate depth…

We introduce the task of open-vocabulary 3D instance segmentation. Current approaches for 3D instance segmentation can typically only recognize object categories from a pre-defined closed set of classes that are annotated in the training…

LiDAR-based 3D object detection has recently seen significant advancements through active learning (AL), attaining satisfactory performance by training on a small fraction of strategically selected point clouds. However, in real-world…

A crucial task in scene understanding is 3D object detection, which aims to detect and localize the 3D bounding boxes of objects belonging to specific classes. Existing 3D object detectors heavily rely on annotated 3D bounding boxes during…

Object affordance is an important concept in human-object interaction, providing information on action possibilities based on human motor capacity and objects' physical property thus benefiting tasks such as action anticipation and robot…

Robotic manipulation faces critical challenges in understanding spatial affordances--the "where" and "how" of object interactions--essential for complex manipulation tasks like wiping a board or stacking objects. Existing methods, including…

Global perception is essential for embodied agents in 360{\deg} spaces, yet current affordance grounding remains largely object-centric and restricted to perspective views. To bridge this gap, we introduce a novel task: Holistic Affordance…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

Curb detection is essential for environmental awareness in Automated Driving (AD), as it typically limits drivable and non-drivable areas. Annotated data are necessary for developing and validating an AD function. However, the number of…

This paper introduces an automatic affordance reasoning paradigm tailored to minimal semantic inputs, addressing the critical challenges of classifying and manipulating unseen classes of objects in household settings. Inspired by human…

Recent advances in Vision-Language-Action (VLA) models have shown strong potential for general-purpose robotic manipulation. However, the visual representations of most VLA models are often dominated by global object appearance and struggle…

Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…

Existing 3D object detectors encounter extreme challenges in localizing unseen 3D objects and recognizing them as unseen, which is a crucial technology in autonomous driving in the wild. To address these challenges, we propose practical…

We introduce OV-MAP, a novel approach to open-world 3D mapping for mobile robots by integrating open-features into 3D maps to enhance object recognition capabilities. A significant challenge arises when overlapping features from adjacent…

Diffusion models are rapidly redefining 3D anomaly detection in point cloud data. As 3D sensing becomes integral to modern manufacturing, reliable anomaly detection is essential for high-throughput quality assurance and process control. Yet…

Recent works on open-vocabulary 3D instance segmentation show strong promise, but at the cost of slow inference speed and high computation requirements. This high computation cost is typically due to their heavy reliance on 3D clip…

We focus on the challenge of out-of-distribution (OOD) detection in deep learning models, a crucial aspect in ensuring reliability. Despite considerable effort, the problem remains significantly challenging in deep learning models due to…