相关论文: Configuration Space Distance Fields for Manipulati…

Reconstructing 3D vehicles from noisy and sparse partial point clouds is of great significance to autonomous driving. Most existing 3D reconstruction methods cannot be directly applied to this problem because they are elaborately designed…

Deep learning-based 3D medical image segmentation methods relies on large-scale labeled datasets, yet acquiring such data is difficult due to privacy constraints and the high cost of expert annotation. Formula-Driven Supervised Learning…

We investigate the generalization capabilities of neural signed distance functions (SDFs) for learning 3D object representations for unseen and unlabeled point clouds. Existing methods can fit SDFs to a handful of object classes and boast…

Unsigned Distance Functions (UDFs) can be used to represent non-watertight surfaces in a deep learning framework. However, UDFs tend to be brittle and difficult to learn, in part because the surface is located exactly where the UDF is…

Micro Aerial Vehicles (MAVs) that operate in unstructured, unexplored environments require fast and flexible local planning, which can replan when new parts of the map are explored. Trajectory optimization methods fulfill these needs, but…

Motion planning under sensing uncertainty is critical for robots in unstructured environments to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots…

Motion planning in the configuration space (C-space) induces benefits, such as smooth trajectories. It becomes more complex as the degrees of freedom (DOF) increase. This is due to the direct relation between the dimensionality of the…

This paper presents a novel post-processing methodology for extracting high-quality geometries from density-based topology optimization results. Current post-processing approaches often struggle to simultaneously achieve smooth boundaries,…

Implicit reconstruction of ESDF (Euclidean Signed Distance Field) involves training a neural network to regress the signed distance from any point to the nearest obstacle, which has the advantages of lightweight storage and continuous…

We propose a novel Deformed Implicit Field (DIF) representation for modeling 3D shapes of a category and generating dense correspondences among shapes. With DIF, a 3D shape is represented by a template implicit field shared across the…

Accurate surface estimation is critical for downstream tasks in scientific simulation, and quantifying uncertainty in implicit neural 3D representations still remains a substantial challenge due to computational inefficiencies, scalability…

Federated learning increasingly operates in a large-model regime where communication, memory, and computation are all scarce. Typically, non-IID client data induce drift that degrades the stability and performance of local training.…

Robotic fiber positioner (RFP) arrays are becoming heavily adopted in wide field massively multiplexed spectroscopic survey instruments. RFP arrays decrease nightly operational overheads through rapid reconfiguration between fields and…

Neural Fields (NFs) have gained momentum as a tool for compressing various data modalities - e.g. images and videos. This work leverages previous advances and proposes a novel NF-based compression algorithm for 3D data. We derive two…

Deep neural representations of 3D shapes as implicit functions have been shown to produce high fidelity models surpassing the resolution-memory trade-off faced by the explicit representations using meshes and point clouds. However, most…

Medical image segmentation plays an important role in accurately identifying and isolating regions of interest within medical images. Generative approaches are particularly effective in modeling the statistical properties of segmentation…

The unconditioned reflex (e.g., protective reflex), which is the innate reaction of the organism and usually performed through the spinal cord rather than the brain, can enable organisms to escape harms from environments. In this paper, we…

Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…

Neural radiance fields (NeRF) have driven impressive progress in view synthesis by using ray-traced volumetric rendering. Splatting-based methods such as 3D Gaussian Splatting (3DGS) provide faster rendering by rasterizing 3D primitives.…

We address the problem of clothed human reconstruction from a single image or uncalibrated multi-view images. Existing methods struggle with reconstructing detailed geometry of a clothed human and often require a calibrated setting for…