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Point clouds, being the simple and compact representation of surface geometry of 3D objects, have gained increasing popularity with the evolution of deep learning networks for classification and segmentation tasks. Unlike human, teaching…

Convolutional Neural Networks (CNNs) reach high accuracies in various application domains, but require large amounts of computation and incur costly data movements. One method to decrease these costs while trading accuracy is weight and/or…

A deep neural network (DNN) based power control method is proposed, which aims at solving the non-convex optimization problem of maximizing the sum rate of a multi-user interference channel. Towards this end, we first present PCNet, which…

Many robotics applications benefit from being able to compute multiple locally optimal paths in a given configuration space. Examples include path planning for of tethered robots with cable-length constraints, systems involving cables,…

Recent developments in the field of deep learning for 3D data have demonstrated promising potential for end-to-end learning directly from point clouds. However, many real-world point clouds contain a large class im-balance due to the…

Popular industrial robotic problems such as spray painting and welding require (i) conditioning on free-shape 3D objects and (ii) planning of multiple trajectories to solve the task. Yet, existing solutions make strong assumptions on the…

In this paper, we present a novel path planning algorithm to achieve fast path planning in complex environments. Most existing path planning algorithms are difficult to quickly find a feasible path in complex environments or even fail.…

In this paper, we propose a multi-resolution deep-learning architecture to semantically segment dense large-scale pointclouds. Dense pointcloud data require a computationally expensive feature encoding process before semantic segmentation.…

Embodied outdoor scene understanding forms the foundation for autonomous agents to perceive, analyze, and react to dynamic driving environments. However, existing 3D understanding is predominantly based on 2D Vision-Language Models (VLMs),…

Brain-inspired algorithms are attractive and emerging alternatives to classical deep learning methods for use in various machine learning applications. Brain-inspired systems can feature local learning rules, both…

In this work we introduce Lean Point Networks (LPNs) to train deeper and more accurate point processing networks by relying on three novel point processing blocks that improve memory consumption, inference time, and accuracy: a…

We introduce an output layer for neural networks that ensures satisfaction of convex constraints. Our approach, $\Pi$net, leverages operator splitting for rapid and reliable projections in the forward pass, and the implicit function theorem…

3D object recognition has attracted wide research attention in the field of multimedia and computer vision. With the recent proliferation of deep learning, various deep models with different representations have achieved the…

In legged logomotion, online trajectory optimization techniques generally depend on heuristic-based contact planners in order to have low computation times and achieve high replanning frequencies. In this work, we propose ContactNet, a fast…

Large-scale channel prediction, i.e., estimation of the pathloss from geographical/morphological/building maps, is an essential component of wireless network planning. Ray tracing (RT)-based methods have been widely used for many years, but…

Deep neural networks (DNNs) sustain high performance in today's data processing applications. DNN inference is resource-intensive thus is difficult to fit into a mobile device. An alternative is to offload the DNN inference to a cloud…

Real-time Deep Neural Network (DNN) inference with low-latency requirement has become increasingly important for numerous applications in both cloud computing (e.g., Apple's Siri) and edge computing (e.g., Google/Waymo's driverless car).…

In High-definition (HD) maps, lane elements constitute the majority of components and demand stringent localization requirements to ensure safe vehicle navigation. Vision lane detection with LiDAR position assignment is a prevalent method…

Two-party computation (2PC) is promising to enable privacy-preserving deep learning (DL). However, the 2PC-based privacy-preserving DL implementation comes with high comparison protocol overhead from the non-linear operators. This work…

Deep convolutional neural networks (ConvNets) of 3-dimensional kernels allow joint modeling of spatiotemporal features. These networks have improved performance of video and volumetric image analysis, but have been limited in size due to…