相关论文: Point Cloud Models Improve Visual Robustness in Ro…

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…

Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure, while RGB images provide rich semantic context. Current…

Reinforcement Learning (RL) from raw visual input has achieved impressive successes in recent years, yet it remains fragile to out-of-distribution variations such as changes in lighting, color, and viewpoint. Point Cloud Reinforcement…

Recent studies on visual reinforcement learning (visual RL) have explored the use of 3D visual representations. However, none of these work has systematically compared the efficacy of 3D representations with 2D representations across…

Reinforcement Learning (RL), among other learning-based methods, represents powerful tools to solve complex robotic tasks (e.g., actuation, manipulation, navigation, etc.), with the need for real-world data to train these systems as one of…

Robust imitation learning for robot manipulation requires comprehensive 3D perception, yet many existing methods struggle in cluttered environments. Fixed camera view approaches are vulnerable to perspective changes, and 3D point cloud…

3D world models (i.e., learning-based 3D dynamics models) offer a promising approach to generalizable robotic manipulation by capturing the underlying physics of environment evolution conditioned on robot actions. However, existing 3D world…

3D vision with real-time LiDAR-based point cloud data became a vital part of autonomous system research, especially perception and prediction modules use for object classification, segmentation, and detection. Despite their success, point…

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…

Learning for manipulation requires using policies that have access to rich sensory information such as point clouds or RGB images. Point clouds efficiently capture geometric structures, making them essential for manipulation tasks in…

Point cloud segmentation (PCS) aims to make per-point predictions and enables robots and autonomous driving cars to understand the environment. The range image is a dense representation of a large-scale outdoor point cloud, and segmentation…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

Recent research efforts on 3D point cloud semantic segmentation (PCSS) have achieved outstanding performance by adopting neural networks. However, the robustness of these complex models have not been systematically analyzed. Given that PCSS…

The 3D deep learning community has seen significant strides in pointcloud processing over the last few years. However, the datasets on which deep models have been trained have largely remained the same. Most datasets comprise clean,…

Point clouds are extensively employed in a variety of real-world applications such as robotics, autonomous driving and augmented reality. Despite the recent success of point cloud neural networks, especially for safety-critical tasks, it is…

Building robotic agents capable of operating across diverse environments and object types remains a significant challenge, often requiring extensive data collection. This is particularly restrictive in robotics, where each data point must…

Vision-Language-Action (VLA) models excel at robotic tasks by leveraging large-scale 2D vision-language pretraining, but their reliance on RGB images limits spatial reasoning critical for real-world interaction. Retraining these models with…

Point cloud classifiers with rotation robustness have been widely discussed in the 3D deep learning community. Most proposed methods either use rotation invariant descriptors as inputs or try to design rotation equivariant networks.…

The rapid growth of 3D point cloud data, driven by applications in autonomous driving, robotics, and immersive environments, has led to criticals demand for efficient compression and quality assessment techniques. Unlike traditional 2D…

In recent years, significant progress has been achieved for 3D object detection on point clouds thanks to the advances in 3D data collection and deep learning techniques. Nevertheless, 3D scenes exhibit a lot of variations and are prone to…