相关论文: CLAP: Unsupervised 3D Representation Learning for …

The rapid progress in 3D scene understanding has come with growing demand for data; however, collecting and annotating 3D scenes (e.g. point clouds) are notoriously hard. For example, the number of scenes (e.g. indoor rooms) that can be…

Contrastive Language-Image Pretraining (CLIP) model has exhibited remarkable efficacy in establishing cross-modal connections between texts and images, yielding impressive performance across a broad spectrum of downstream applications…

3D object detection using LiDAR point clouds is a fundamental task in the fields of computer vision, robotics, and autonomous driving. However, existing 3D detectors heavily rely on annotated datasets, which are both time-consuming and…

Despite remarkable advancements in supervised pansharpening neural networks, these methods face domain adaptation challenges of resolution due to the intrinsic disparity between simulated reduced-resolution training data and real-world…

Developing agents that can perform complex control tasks from high dimensional observations such as pixels is challenging due to difficulties in learning dynamics efficiently. In this work, we propose to learn forward and inverse dynamics…

3D visual grounding allows an embodied agent to understand visual information in real-world 3D environments based on human instructions, which is crucial for embodied intelligence. Existing 3D visual grounding methods typically rely on…

Contrastive language-image pre-training (CLIP) serves as a de-facto standard to align images and texts. Nonetheless, the loose correlation between images and texts of web-crawled data renders the contrastive objective data inefficient and…

Large pre-trained models have had a significant impact on computer vision by enabling multi-modal learning, where the CLIP model has achieved impressive results in image classification, object detection, and semantic segmentation. However,…

3D point cloud registration is a fundamental task in robotics and computer vision. Recently, many learning-based point cloud registration methods based on correspondences have emerged. However, these methods heavily rely on such…

We present a new approach to instill 4D dynamic object priors into learned 3D representations by unsupervised pre-training. We observe that dynamic movement of an object through an environment provides important cues about its objectness,…

State-of-the-art computer vision models are mostly trained with supervised learning using human-labeled images, which limits their scalability due to the expensive annotation cost. While self-supervised representation learning has achieved…

Simulating the time evolution of physical systems is pivotal in many scientific and engineering problems. An open challenge in simulating such systems is their multi-resolution dynamics: a small fraction of the system is extremely dynamic,…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

Global registration of point clouds aims to find an optimal alignment of a sequence of 2D or 3D point sets. In this paper, we present a novel method that takes advantage of current deep learning techniques for unsupervised learning of…

Despite recent success of self-supervised based contrastive learning model for 3D point clouds representation, the adversarial robustness of such pre-trained models raised concerns. Adversarial contrastive learning (ACL) is considered an…

This paper introduces a novel self-supervised learning framework for enhancing 3D perception in autonomous driving scenes. Specifically, our approach, namely NCLR, focuses on 2D-3D neural calibration, a novel pretext task that estimates the…

Neural implicit representations have become a popular choice for modeling surfaces due to their adaptability in resolution and support for complex topology. While previous works have achieved impressive reconstruction quality by training on…

The limited scale of current 3D shape datasets hinders the advancements in 3D shape understanding, and motivates multi-modal learning approaches which transfer learned knowledge from data-abundant 2D image and language modalities to 3D…

Contrastive language-audio pre-training (CLAP), which learns audio-language representations by aligning audio and text in a common feature space, has become popular for solving audio tasks. However, CLAP's audio features lack…

We address the problem of learning accurate 3D shape and camera pose from a collection of unlabeled category-specific images. We train a convolutional network to predict both the shape and the pose from a single image by minimizing the…