相关论文: Learning Locally Adaptive Metrics that Enhance Str…

Using geometric landmarks like lines and planes can increase navigation accuracy and decrease map storage requirements compared to commonly-used LiDAR point cloud maps. However, landmark-based registration for applications like loop closure…

When training automated systems, it has been shown to be beneficial to adapt the representation of data by learning a problem-specific metric. This metric is global. We extend this idea and, for the widely used family of k nearest neighbors…

Dimensionality reduction is an effective method for learning high-dimensional data, which can provide better understanding of decision boundaries in human-readable low-dimensional subspace. Linear methods, such as principal component…

Detecting and analyzing the local environment is crucial for investigating the dynamical processes of crystal nucleation and shape colloidal particle self-assembly. Recent developments in machine learning provide a promising avenue for…

In this paper we introduce a novel way to predict semantic information from sparse, single-shot LiDAR measurements in the context of autonomous driving. In particular, we fuse learned features from complementary representations. The…

The purpose of this paper is to employ the language of Cartan moving frames to study the geometry of the data manifolds and its Riemannian structure, via the data information metric and its curvature at data points. Using this framework and…

Manifold learning-based encoders have been playing important roles in nonlinear dimensionality reduction (NLDR) for data exploration. However, existing methods can often fail to preserve geometric, topological and/or distributional…

Supervised learning depth estimation methods can achieve good performance when trained on high-quality ground-truth, like LiDAR data. However, LiDAR can only generate sparse 3D maps which causes losing information. Obtaining high-quality…

A central challenge in data visualization is to understand which data samples are required to generate an image of a data set in which the relevant information is encoded. In this work, we make a first step towards answering the question of…

The past few years have seen the development of ``universal'' machine-learning interatomic potentials (uMLIPs) capable of approximating the ground-state potential energy surface across a wide range of chemical structures and compositions…

Nonlinear manifold learning from unorganized data points is a very challenging unsupervised learning and data visualization problem with a great variety of applications. In this paper we present a new algorithm for manifold learning and…

This paper proposes LONER, the first real-time LiDAR SLAM algorithm that uses a neural implicit scene representation. Existing implicit mapping methods for LiDAR show promising results in large-scale reconstruction, but either require…

Pretrained (language) embeddings are versatile, task-agnostic feature representations of entities, like words, that are central to many machine learning applications. These representations can be enriched through retrofitting, a class of…

3D laser scanning by LiDAR sensors plays an important role for mobile robots to understand their surroundings. Nevertheless, not all systems have high resolution and accuracy due to hardware limitations, weather conditions, and so on.…

Machine learning methods rely on data. However, gathering suitable data can be challenging due to availability constraints, cost, or the need for domain expertise. Expanding datasets with additional sources is a common response to limited…

Probabilistic Latent Variable Models (LVMs) excel at modeling complex, high-dimensional data through lower-dimensional representations. Recent advances show that equipping these latent representations with a Riemannian metric unlocks…

A framework for identifying nonlinear port-Hamiltonian systems using input-state-output data is introduced. The framework utilizes neural networks' universal approximation capacity to effectively represent complex dynamics in a structured…

Despite the popularity of the manifold hypothesis, current manifold-learning methods do not support machine learning directly on the latent $d$-dimensional data manifold, as they primarily aim to perform dimensionality reduction into…

Rendering realistic images from 3D reconstruction is an essential task of many Computer Vision and Robotics pipelines, notably for mixed-reality applications as well as training autonomous agents in simulated environments. However, the…

Large Language Models (LLMs) are increasingly being adopted as tools for learning; however, most tools remain text-only, limiting their usefulness for domains where visualizations are essential, such as mathematics. Recent work shows that…