相关论文: GEAL: Generalizable 3D Affordance Learning with Cr…

Semantic segmentation on point clouds is critical for 3D scene understanding. However, sparse and irregular point distributions provide limited appearance evidence, making geometry-only features insufficient to distinguish objects with…

Machine Learning-based heuristics have recently shown impressive performance in solving a variety of hard combinatorial optimization problems (COPs). However, they generally rely on a separate neural model, specialized and trained for each…

We present an approach for mobile robots to learn to navigate in dynamic environments with pedestrians via raw depth inputs, in a socially compliant manner. To achieve this, we adopt a generative adversarial imitation learning (GAIL)…

The stability-plasticity dilemma is a major challenge in continual learning, as it involves balancing the conflicting objectives of maintaining performance on previous tasks while learning new tasks. In this paper, we propose the…

Tabular machine learning systems are frequently trained on data affected by non-uniform corruption, including noisy measurements, missing entries, and feature-specific biases. In practice, these defects are often documented only through…

This work presents IAAO, a novel framework that builds an explicit 3D model for intelligent agents to gain understanding of articulated objects in their environment through interaction. Unlike prior methods that rely on task-specific…

Reinforcement learning for multi-goal robot manipulation tasks poses significant challenges due to the diversity and complexity of the goal space. Techniques such as Hindsight Experience Replay (HER) have been introduced to improve learning…

Facilitating an entity's interaction with objects requires accurately identifying parts that afford specific actions. Weakly supervised affordance grounding (WSAG) seeks to imitate human learning from third-person demonstrations, where…

Imitation learning aims to learn a policy from observing expert demonstrations without access to reward signals from environments. Generative adversarial imitation learning (GAIL) formulates imitation learning as adversarial learning,…

3D affordance segmentation aims to link human instructions to touchable regions of 3D objects for embodied manipulations. Existing efforts typically adhere to single-object, single-affordance paradigms, where each affordance type or…

Feedforward 3D Gaussian Splatting (3DGS) overcomes the limitations of optimization-based 3DGS by enabling fast and high-quality reconstruction without the need for per-scene optimization. However, existing feedforward approaches typically…

Transparent and specular objects are frequently encountered in daily life, factories, and laboratories. However, due to the unique optical properties, the depth information on these objects is usually incomplete and inaccurate, which poses…

We present a novel approach for enhancing the resolution and geometric fidelity of 3D Gaussian Splatting (3DGS) beyond native training resolution. Current 3DGS methods are fundamentally limited by their input resolution, producing…

Building a generalized affordance grounding model to identify actionable regions on objects is vital for real-world applications. Existing methods to train the model can be divided into weakly and fully supervised ways. However, the former…

Deep visual Simultaneous Localization and Mapping (SLAM) techniques, e.g., DROID, have made significant advancements by leveraging deep visual odometry on dense flow fields. In general, they heavily rely on global visual similarity…

Imitation learning algorithms learn viable policies by imitating an expert's behavior when reward signals are not available. Generative Adversarial Imitation Learning (GAIL) is a state-of-the-art algorithm for learning policies when the…

Shape assembly, the process of combining parts into a complete whole, is a crucial robotic skill with broad real-world applications. Among various assembly tasks, geometric assembly--where broken parts are reassembled into their original…

Federated learning is a distributed machine learning approach which enables a shared server model to learn by aggregating the locally-computed parameter updates with the training data from spatially-distributed client silos. Though…

In this work, we address the challenge of affordance detection in 3D point clouds, a task that requires effectively capturing fine-grained alignments between point clouds and text. Existing methods often struggle to model such alignments,…

Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…