相关论文: MRG: A Multi-Robot Manufacturing Digital Scene Gen…

On robotics computer vision tasks, generating and annotating large amounts of data from real-world for the use of deep learning-based approaches is often difficult or even impossible. A common strategy for solving this problem is to apply…

Object recognition and object pose estimation in robotic grasping continue to be significant challenges, since building a labelled dataset can be time consuming and financially costly in terms of data collection and annotation. In this…

Due to their complex spatial structure and diverse geometric features, achieving high-precision and robust point cloud registration for complex Die Castings has been a significant challenge in the die-casting industry. Existing point cloud…

Accurate temporal prediction is the bridge between comprehensive scene understanding and embodied artificial intelligence. However, predicting multiple fine-grained states of a scene at multiple temporal scales is difficult for…

In recent years, point cloud generation has gained significant attention in 3D generative modeling. Among existing approaches, point-based methods directly generate point clouds without relying on other representations such as latent…

While text-to-video diffusion models have advanced significantly, creating coherent long-form content remains unreliable due to stochastic sampling artifacts. This necessitates generating multiple candidates, yet verifying them creates a…

Representing the environment is a central challenge in robotics, and is essential for effective decision-making. Traditionally, before capturing images with a manipulator-mounted camera, users need to calibrate the camera using a specific…

This paper proposes a mode multigrid (MMG) method, and applies it to accelerate the convergence of the steady state flow on unstructured grids. The dynamic mode decomposition (DMD) technique is used to analyze the convergence process of…

Multiview point cloud registration serves as a cornerstone of various computer vision tasks. Previous approaches typically adhere to a global paradigm, where a pose graph is initially constructed followed by motion synchronization to…

Accurate three-dimensional perception is a fundamental task in several computer vision applications. Recently, commercial RGB-depth (RGB-D) cameras have been widely adopted as single-view depth-sensing devices owing to their efficient…

Point cloud registration aims to provide estimated transformations to align point clouds, which plays a crucial role in pose estimation of various navigation systems, such as surgical guidance systems and autonomous vehicles. Despite the…

Operating rooms (ORs) are complex, high-stakes environments requiring precise understanding of interactions among medical staff, tools, and equipment for enhancing surgical assistance, situational awareness, and patient safety. Current…

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain…

Accurate grasping is the key to several robotic tasks including assembly and household robotics. Executing a successful grasp in a cluttered environment requires multiple levels of scene understanding: First, the robot needs to analyze the…

Point set registration is an essential step in many computer vision applications, such as 3D reconstruction and SLAM. Although there exist many registration algorithms for different purposes, however, this topic is still challenging due to…

Object-Centric Motion Generation (OCMG) plays a key role in a variety of industrial applications$\unicode{x2014}$such as robotic spray painting and welding$\unicode{x2014}$requiring efficient, scalable, and generalizable algorithms to plan…

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…

Generalising vision-based manipulation policies to novel environments remains a challenging area with limited exploration. Current practices involve collecting data in one location, training imitation learning or reinforcement learning…

Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure, while RGB images provide rich semantic context. Current…

Diffusion models have recently been successfully applied to a wide range of robotics applications for learning complex multi-modal behaviors from data. However, prior works have mostly been confined to single-robot and small-scale…