相关论文: From Mesh Completion to AI Designed Crown

How will you repair a physical object with some missings? You may imagine its original shape from previously captured images, recover its overall (global) but coarse shape first, and then refine its local details. We are motivated to…

Deformable object manipulation stands as one of the most captivating yet formidable challenges in robotics. While previous techniques have predominantly relied on learning latent dynamics through demonstrations, typically represented as…

Given a maze populated with different objects, one may task a robot with a sequential goal completion task, e.g. 1) pick up a key then 2) unlock the door then 3) unlock the treasure chest. A typical machine learning (ML) solution would…

Deep Metric Learning (DML) serves to learn an embedding function to project semantically similar data into nearby embedding space and plays a vital role in many applications, such as image retrieval and face recognition. However, the…

We present Points2Plans, a framework for composable planning with a relational dynamics model that enables robots to solve long-horizon manipulation tasks from partial-view point clouds. Given a language instruction and a point cloud of the…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

Mesh generation is a crucial step in numerical simulations, significantly impacting simulation accuracy and efficiency. However, generating meshes remains time-consuming and requires expensive computational resources. In this paper, we…

We are interested to explore the limit in using deep learning (DL) to study the electromagnetic response for complex and random metasurfaces, without any specific applications in mind. For simplicity, we focus on a simple pure reflection…

Real scans always miss partial geometries of objects due to the self-occlusions, external-occlusions, and limited sensor resolutions. Point cloud completion aims to refer the complete shapes for incomplete 3D scans of objects. Current deep…

Training deep models for semantic scene completion (SSC) is challenging due to the sparse and incomplete input, a large quantity of objects of diverse scales as well as the inherent label noise for moving objects. To address the…

Sketch-based modeling strives to bring the ease and immediacy of drawing to the 3D world. However, while drawings are easy for humans to create, they are very challenging for computers to interpret due to their sparsity and ambiguity. We…

Recent studies that incorporate geometric features and transformers into 3D point cloud feature learning have significantly improved the performance of 3D deep-learning models. However, their robustness against adversarial attacks has not…

Despite recent advancements in text-to-image generation, most existing methods struggle to create images with multiple objects and complex spatial relationships in the 3D world. To tackle this limitation, we introduce a generic AI system,…

Prediction of complete step-by-step chemical reaction mechanisms (CRMs) remains a major challenge. Whereas the traditional approaches in CRM tasks rely on expert-driven experiments or costly quantum chemical computations, contemporary deep…

As 3D scanning solutions become increasingly popular, several deep learning setups have been developed geared towards that task of scan completion, i.e., plausibly filling in regions there were missed in the raw scans. These methods,…

One challenge that remains open in 3D deep learning is how to efficiently represent 3D data to feed deep networks. Recent works have relied on volumetric or point cloud representations, but such approaches suffer from a number of issues…

This paper introduces a novel framework called DTNet for 3D mesh reconstruction and generation via Disentangled Topology. Beyond previous works, we learn a topology-aware neural template specific to each input then deform the template to…

Point cloud registration is a fundamental problem in 3D computer vision. In this paper, we cast point cloud registration into a planning problem in reinforcement learning, which can seek the transformation between the source and target…

Cloud computing creates new possibilities for control applications by offering powerful computation and storage capabilities. In this paper, we propose a novel cloud-assisted model predictive control (MPC) framework in which we…

Point clouds are unstructured and unordered data, as opposed to images. Thus, most machine learning approach developed for image cannot be directly transferred to point clouds. In this paper, we propose a generalization of discrete…