相关论文: Multi-body SE(3) Equivariance for Unsupervised Rig…

Category-level object pose estimation aims to find 6D object poses of previously unseen object instances from known categories without access to object CAD models. To reduce the huge amount of pose annotations needed for category-level…

Category-level articulated object pose estimation aims to estimate a hierarchy of articulation-aware object poses of an unseen articulated object from a known category. To reduce the heavy annotations needed for supervised learning methods,…

Features that are equivariant to a larger group of symmetries have been shown to be more discriminative and powerful in recent studies. However, higher-order equivariant features often come with an exponentially-growing computational cost.…

Partial point cloud registration is a challenging problem in robotics, especially when the robot undergoes a large transformation, causing a significant initial pose error and a low overlap between measurements. This work proposes…

We address the problem of fitting a parametric human body model (SMPL) to point cloud data. Optimization-based methods require careful initialization and are prone to becoming trapped in local optima. Learning-based methods address this but…

We introduce Equivariant Neural Field Expectation Maximization (EFEM), a simple, effective, and robust geometric algorithm that can segment objects in 3D scenes without annotations or training on scenes. We achieve such unsupervised…

Shape assembly aims to reassemble parts (or fragments) into a complete object, which is a common task in our daily life. Different from the semantic part assembly (e.g., assembling a chair's semantic parts like legs into a whole chair),…

Extending the translation equivariance property of convolutional neural networks to larger symmetry groups has been shown to reduce sample complexity and enable more discriminative feature learning. Further, exploiting additional symmetries…

Given a 3D object, kinematic motion prediction aims to identify the mobile parts as well as the corresponding motion parameters. Due to the large variations in both topological structure and geometric details of 3D objects, this remains a…

A symmetry on rigid motion is one of the salient factors in efficient learning of 3D point cloud problems. Group convolution has been a representative method to extract equivariant features, but its realizations have struggled to retain…

We introduce the SE(3)-Transformer, a variant of the self-attention module for 3D point clouds and graphs, which is equivariant under continuous 3D roto-translations. Equivariance is important to ensure stable and predictable performance in…

Machine learning has enabled the prediction of quantum chemical properties with high accuracy and efficiency, allowing to bypass computationally costly ab initio calculations. Instead of training on a fixed set of properties, more recent…

We present MultiBodySync, a novel, end-to-end trainable multi-body motion segmentation and rigid registration framework for multiple input 3D point clouds. The two non-trivial challenges posed by this multi-scan multibody setting that we…

Rigid motion tracking is paramount in many medical imaging applications where movements need to be detected, corrected, or accounted for. Modern strategies rely on convolutional neural networks (CNN) and pose this problem as rigid…

The scarcity of labeled data often limits the application of supervised deep learning techniques for medical image segmentation. This has motivated the development of semi-supervised techniques that learn from a mixture of labeled and…

Group equivariance (e.g. SE(3) equivariance) is a critical physical symmetry in science, from classical and quantum physics to computational biology. It enables robust and accurate prediction under arbitrary reference transformations. In…

We introduce SE3-Nets, which are deep neural networks designed to model and learn rigid body motion from raw point cloud data. Based only on sequences of depth images along with action vectors and point wise data associations, SE3-Nets…

Visual imitation learning with 3D point clouds has advanced robotic manipulation by providing geometry-aware, appearance-invariant observations. However, point cloud-based policies remain highly sensitive to sensor noise, pose…

Despite significant progress in image-based 3D scene flow estimation, the performance of such approaches has not yet reached the fidelity required by many applications. Simultaneously, these applications are often not restricted to…

While grasp detection is an important part of any robotic manipulation pipeline, reliable and accurate grasp detection in $SE(3)$ remains a research challenge. Many robotics applications in unstructured environments such as the home or…