相关论文: Deep Learning at the Intersection: Certified Robus…

3D decomposition/segmentation still remains a challenge as large-scale 3D annotated data is not readily available. Contemporary approaches typically leverage 2D machine-generated segments, integrating them for 3D consistency. While the…

Localization of a robotic system within a previously mapped environment is important for reducing estimation drift and for reusing previously built maps. Existing techniques for geometry-based localization have focused on the description of…

We propose an algorithm to (i) learn online a deep signed distance function (SDF) with a LiDAR-equipped robot to represent the 3D environment geometry, and (ii) plan collision-free trajectories given this deep learned map. Our algorithm…

We propose a novel 3D spatial representation for data fusion and scene reconstruction. Probabilistic Signed Distance Function (Probabilistic SDF, PSDF) is proposed to depict uncertainties in the 3D space. It is modeled by a joint…

We extend the recently proposed sparse voxel rasterization paradigm to the task of high-fidelity surface reconstruction by integrating Signed Distance Function (SDF), named SVRecon. Unlike 3D Gaussians, sparse voxels are spatially…

As deep learning models continue to advance and are increasingly utilized in real-world systems, the issue of robustness remains a major challenge. Existing certified training methods produce models that achieve high provable robustness…

Learning signed distance functions (SDFs) from 3D point clouds is an important task in 3D computer vision. However, without ground truth signed distances, point normals or clean point clouds, current methods still struggle from learning…

A vast literature shows that the learning-based visual perception model is sensitive to adversarial noises, but few works consider the robustness of robotic perception models under widely-existing camera motion perturbations. To this end,…

In this paper, we investigate a new optimization framework for multi-view 3D shape reconstructions. Recent differentiable rendering approaches have provided breakthrough performances with implicit shape representations though they can still…

Generating safe motion plans in real-time is a key requirement for deploying robot manipulators to assist humans in collaborative settings. In particular, robots must satisfy strict safety requirements to avoid self-damage or harming nearby…

This paper proposes a deep-learning-based method for recovering a signed distance function (SDF) of a given hypersurface represented by an implicit level set function. Using the flexibility of constructing a neural network, we use an…

Modern deep learning models exhibit strong capabilities across diverse applications, yet remain vulnerable to malicious inputs that induce erroneous predictions via feature-space distortion. To address this vulnerability, we propose…

From a geometric perspective most nonlinear binary classification algorithms, including state of the art versions of Support Vector Machine (SVM) and Radial Basis Function Network (RBFN) classifiers, and are based on the idea of…

Randomized smoothing (RS) is a well known certified defense against adversarial attacks, which creates a smoothed classifier by predicting the most likely class under random noise perturbations of inputs during inference. While initial work…

Recent works on implicit neural representations have shown promising results for multi-view surface reconstruction. However, most approaches are limited to relatively simple geometries and usually require clean object masks for…

One strategy for adversarially training a robust model is to maximize its certified radius -- the neighborhood around a given training sample for which the model's prediction remains unchanged. The scheme typically involves analyzing a…

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…

Reinforcement learning (RL) offers a powerful approach for robots to learn complex, collaborative skills by combining Dynamic Movement Primitives (DMPs) for motion and Variable Impedance Control (VIC) for compliant interaction. However,…

It is vital to recover 3D geometry from multi-view RGB images in many 3D computer vision tasks. The latest methods infer the geometry represented as a signed distance field by minimizing the rendering error on the field through volume…

The robustness of image segmentation has been an important research topic in the past few years as segmentation models have reached production-level accuracy. However, like classification models, segmentation models can be vulnerable to…