相关论文: On the Efficacy of 3D Point Cloud Reinforcement Le…

Learning point clouds is challenging due to the lack of connectivity information, i.e., edges. Although existing edge-aware methods can improve the performance by modeling edges, how edges contribute to the improvement is unclear. In this…

Normal estimation on 3D point clouds is a fundamental problem in 3D vision and graphics. Current methods often show limited accuracy in predicting normals at sharp features (e.g., edges and corners) and less robustness to noise. In this…

In this paper, we propose a novel variable rate deep compression architecture that operates on raw 3D point cloud data. The majority of learning-based point cloud compression methods work on a downsampled representation of the data.…

Deep learning with 3D data such as reconstructed point clouds and CAD models has received great research interests recently. However, the capability of using point clouds with convolutional neural network has been so far not fully explored.…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

In this paper, we propose Neural Points, a novel point cloud representation and apply it to the arbitrary-factored upsampling task. Different from traditional point cloud representation where each point only represents a position or a local…

Recently, the self-supervised learning framework data2vec has shown inspiring performance for various modalities using a masked student-teacher approach. However, it remains open whether such a framework generalizes to the unique challenges…

Generative models have proven effective at modeling 3D shapes and their statistical variations. In this paper we investigate their application to point clouds, a 3D shape representation widely used in computer vision for which, however,…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

Self-supervised representation learning (SSRL) has gained increasing attention in point cloud understanding, in addressing the challenges posed by 3D data scarcity and high annotation costs. This paper presents PCExpert, a novel SSRL…

In this work, we evaluate the effectiveness of representation learning approaches for decision making in visually complex environments. Representation learning is essential for effective reinforcement learning (RL) from high-dimensional…

Existing approaches for unsupervised point cloud pre-training are constrained to either scene-level or point/voxel-level instance discrimination. Scene-level methods tend to lose local details that are crucial for recognizing the road…

In this paper we investigate the properties of representations learned by deep reinforcement learning systems. Much of the early work on representations for reinforcement learning focused on designing fixed-basis architectures to achieve…

The performance of 3D object detection models over point clouds highly depends on their capability of modeling local geometric patterns. Conventional point-based models exploit local patterns through a symmetric function (e.g. max pooling)…

In robot learning, the observation space is crucial due to the distinct characteristics of different modalities, which can potentially become a bottleneck alongside policy design. In this study, we explore the influence of various…

Recent progresses in 3D deep learning has shown that it is possible to design special convolution operators to consume point cloud data. However, a typical drawback is that rotation invariance is often not guaranteed, resulting in networks…

Semantic understanding of 3D point clouds is important for various robotics applications. Given that point-wise semantic annotation is expensive, in this paper, we address the challenge of learning models with extremely sparse labels. The…

3D point-clouds and 2D images are different visual representations of the physical world. While human vision can understand both representations, computer vision models designed for 2D image and 3D point-cloud understanding are quite…

Deep reinforcement learning (RL) algorithms are powerful tools for solving visuomotor decision tasks. However, the trained models are often difficult to interpret, because they are represented as end-to-end deep neural networks. In this…

Building a robust perception module is crucial for visuomotor policy learning. While recent methods incorporate pre-trained 2D foundation models into robotic perception modules to leverage their strong semantic understanding, they struggle…