相关论文: 3D-RPE: Enhancing Long-Context Modeling Through 3D…

Precise robot manipulations require rich spatial information in imitation learning. Image-based policies model object positions from fixed cameras, which are sensitive to camera view changes. Policies utilizing 3D point clouds usually…

Currently, many studies view DNA sequences as a special type of language and utilize Transformers to model them. These studies use fixed-length k-mer segmentation and BPE subword tokenization but lack a systematic evaluation to determine…

There is a critical need for efficient and reliable active flow control strategies to reduce drag and noise in aerospace and marine engineering applications. While traditional full-order models based on the Navier-Stokes equations are not…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

Attention-based encoder-decoder framework is widely used in the scene text recognition task. However, for the current state-of-the-art(SOTA) methods, there is room for improvement in terms of the efficient usage of local visual and global…

In this work, we investigate the positional encoding methods used in language pre-training (e.g., BERT) and identify several problems in the existing formulations. First, we show that in the absolute positional encoding, the addition…

This paper concerns the research problem of point cloud registration to find the rigid transformation to optimally align the source point set with the target one. Learning robust point cloud registration models with deep neural networks has…

Length extrapolation has attracted considerable attention recently since it allows transformers to be tested on longer sequences than those used in training. Previous research has shown that this property can be attained by using carefully…

Three-dimensional trajectories, or the 3D position and rotation of objects over time, have been shown to encode key aspects of verb semantics (e.g., the meanings of roll vs. slide). However, most multimodal models in NLP use 2D images as…

Reinforcement learning (RL), earlier proven to be effective in large language and multi-modal models, has been successfully extended to enhance 2D image generation recently. However, applying RL to 3D generation remains largely unexplored…

Three-dimensional (3D) shape measurement devices and techniques are being rapidly adopted within a variety of industries and applications. As acquiring 3D range data becomes faster and more accurate it becomes more challenging to…

Establishing character shape correspondence is a critical and fundamental task in computer vision and graphics, with diverse applications including re-topology, attribute transfer, and shape interpolation. Current dominant functional map…

The attention mechanism in a Transformer architecture matches key to query based on both content -- the what -- and position in a sequence -- the where. We present an analysis indicating that what and where are entangled in the popular RoPE…

We propose a conditional positional encoding (CPE) scheme for vision Transformers. Unlike previous fixed or learnable positional encodings, which are pre-defined and independent of input tokens, CPE is dynamically generated and conditioned…

While 2D occupancy maps commonly used in mobile robotics enable safe navigation in indoor environments, in order for robots to understand and interact with their environment and its inhabitants representing 3D geometry and semantic…

Recently introduced implicit field representations offer an effective way of generating 3D object shapes. They leverage implicit decoder trained to take a 3D point coordinate concatenated with a shape encoding and to output a value which…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

Neural implicit representations of 3D shapes have shown great potential in 3D shape editing due to their ability to model high-level semantics and continuous geometric representations. However, existing methods often suffer from limited…

In this paper, we develop position embedding transformation (PETR) for multi-view 3D object detection. PETR encodes the position information of 3D coordinates into image features, producing the 3D position-aware features. Object query can…

Implicit neural representations have emerged as a powerful tool in learning 3D geometry, offering unparalleled advantages over conventional representations like mesh-based methods. A common type of INR implicitly encodes a shape's boundary…