相关论文: MaskPlanner: Learning-Based Object-Centric Motion …

Contemporary deep neural networks offer state-of-the-art results when applied to visual reasoning, e.g., in the context of 3D point cloud data. Point clouds are important datatype for precise modeling of three-dimensional environments, but…

Object detection and motion parameters estimation are crucial tasks for self-driving vehicle safe navigation in a complex urban environment. In this work we propose a novel real-time approach of temporal context aggregation for motion…

This paper addresses the problem of 3D referring expression comprehension (REC) in autonomous driving scenario, which aims to ground a natural language to the targeted region in LiDAR point clouds. Previous approaches for REC usually focus…

In this paper, we present an online motion planning algorithm (3D-OGSE) for generating smooth, collision-free trajectories over multiple planning iterations for 3-D agents operating in an unknown obstacle-cluttered 3-D environment. Our…

Planning collision-free motions for robots with many degrees of freedom is challenging in environments with complex obstacle geometries. Recent work introduced the idea of speeding up the planning by encoding prior experience of successful…

Reconstructing compositional 3D representations of scenes, where each object is represented with its own 3D model, is a highly desirable capability in robotics and augmented reality. However, most existing methods rely heavily on strong…

Despite recent impressive results on single-object and single-domain image generation, the generation of complex scenes with multiple objects remains challenging. In this paper, we start with the idea that a model must be able to understand…

Generating 3D point clouds is challenging yet highly desired. This work presents a novel autoregressive model, PointGrow, which can generate diverse and realistic point cloud samples from scratch or conditioned on semantic contexts. This…

We present Orbit-Space Geometric Probability Paths (OGPP), a particle-native flow-matching framework for generative modeling of particle systems. OGPP is motivated by two insights: (i) particles are defined up to permutation symmetries, so…

We present a generative model of images that explicitly reasons over the set of objects they show. Our model learns a structured latent representation that separates objects from each other and from the background; unlike prior works, it…

We present a novel locality-based learning method for cleaning and solving optical motion capture data. Given noisy marker data, we propose a new heterogeneous graph neural network which treats markers and joints as different types of…

Masked autoencoding has become a successful pretraining paradigm for Transformer models for text, images, and, recently, point clouds. Raw automotive datasets are suitable candidates for self-supervised pre-training as they generally are…

Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…

This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…

We present an approach to learn an object-centric forward model, and show that this allows us to plan for sequences of actions to achieve distant desired goals. We propose to model a scene as a collection of objects, each with an explicit…

Existing LiDAR-based 3D object detection methods for autonomous driving scenarios mainly adopt the training-from-scratch paradigm. Unfortunately, this paradigm heavily relies on large-scale labeled data, whose collection can be expensive…

Good quality reconstruction and comprehension of a scene rely on 3D estimation methods. The 3D information was usually obtained from images by stereo-photogrammetry, but deep learning has recently provided us with excellent results for…

Achieving precise, object-level control in image editing remains challenging: 2D methods lack 3D awareness and often yield ambiguous or implausible results, while existing 3D-aware approaches rely on heavy optimization or incomplete…

Current Gaussian Splatting approaches are effective for reconstructing entire scenes but lack the option to target specific objects, making them computationally expensive and unsuitable for object-specific applications. We propose a novel…

Masked autoencoder has been widely explored in point cloud self-supervised learning, whereby the point cloud is generally divided into visible and masked parts. These methods typically include an encoder accepting visible patches…