相关论文: PointCMP: Contrastive Mask Prediction for Self-sup…

Despite the recent progress of network pruning, directly applying it to the Internet of Things (IoT) applications still faces two challenges, i.e. the distribution divergence between end and cloud data and the missing of data label on end…

With the development of 3D and 2D data acquisition techniques, it has become easy to obtain point clouds and images of scenes simultaneously, which further facilitates dual-modal semantic segmentation. Most existing methods for…

Remarkable performance from Transformer networks in Natural Language Processing promote the development of these models in dealing with computer vision tasks such as image recognition and segmentation. In this paper, we introduce a novel…

Recent advancements in vision-language pre-training (e.g. CLIP) have shown that vision models can benefit from language supervision. While many models using language modality have achieved great success on 2D vision tasks, the joint…

We present a novel approach to learning a point-wise, meaningful embedding for point-clouds in an unsupervised manner, through the use of neural-networks. The domain of point-cloud processing via neural-networks is rapidly evolving, with…

With the rapid progress of multimodal foundation models and predictive pre-training, an important open question is how to equip 3D point clouds with a pre-training paradigm that is better aligned with next-token and next-embedding learning.…

To date, various 3D scene understanding tasks still lack practical and generalizable pre-trained models, primarily due to the intricate nature of 3D scene understanding tasks and their immense variations introduced by camera views,…

Most multi-view clustering methods are limited by shallow models without sound nonlinear information perception capability, or fail to effectively exploit complementary information hidden in different views. To tackle these issues, we…

Manually annotating complex scene point cloud datasets is both costly and error-prone. To reduce the reliance on labeled data, a new model called SnapshotNet is proposed as a self-supervised feature learning approach, which directly works…

Leveraging pre-trained 2D image representations in behavior cloning policies has achieved great success and has become a standard approach for robotic manipulation. However, such representations fail to capture the 3D spatial information…

Instance-level contrastive learning techniques, which rely on data augmentation and a contrastive loss function, have found great success in the domain of visual representation learning. They are not suitable for exploiting the rich…

Large-scale vision 2D vision language models, such as CLIP can be aligned with a 3D encoder to learn generalizable (open-vocabulary) 3D vision models. However, current methods require supervised pre-training for such alignment, and the…

The acquisition of inductive bias through point-level contrastive learning holds paramount significance in point cloud pre-training. However, the square growth in computational requirements with the scale of the point cloud poses a…

Contrastive learning applied to self-supervised representation learning has seen a resurgence in recent years, leading to state of the art performance in the unsupervised training of deep image models. Modern batch contrastive approaches…

Self-supervised learning has been successfully applied to pre-train video representations, which aims at efficient adaptation from pre-training domain to downstream tasks. Existing approaches merely leverage contrastive loss to learn…

Point cloud filtering and normal estimation are two fundamental research problems in the 3D field. Existing methods usually perform normal estimation and filtering separately and often show sensitivity to noise and/or inability to preserve…

The lack of labeled data is a key challenge for learning useful representation from time series data. However, an unsupervised representation framework that is capable of producing high quality representations could be of great value. It is…

Recognizing human actions from point cloud videos has attracted tremendous attention from both academia and industry due to its wide applications like automatic driving, robotics, and so on. However, current methods for point cloud action…

This paper presents a framework for learning visual representations from unlabeled video demonstrations captured from multiple viewpoints. We show that these representations are applicable for imitating several robotic tasks, including pick…

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…