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

This paper proposes a novel automatically generating image masks method for the state-of-the-art Mask R-CNN deep learning method. The Mask R-CNN method achieves the best results in object detection until now, however, it is very…

As a pioneering work, PointContrast conducts unsupervised 3D representation learning via leveraging contrastive learning over raw RGB-D frames and proves its effectiveness on various downstream tasks. However, the trend of large-scale…

Human action recognition is a crucial task for intelligent robotics, particularly within the context of human-robot collaboration research. In self-supervised skeleton-based action recognition, the mask-based reconstruction paradigm learns…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Learning-based 3D reconstruction using implicit neural representations has shown promising progress not only at the object level but also in more complicated scenes. In this paper, we propose Dynamic Plane Convolutional Occupancy Networks,…

Recent advances in Multi-modal Large Language Models (MLLMs) have showcased remarkable capabilities in vision-language understanding. However, enabling robust video spatial reasoning-the ability to comprehend object locations, orientations,…

Visual inspection is a crucial yet time-consuming task across various industries. Numerous established methods employ machine learning in inspection tasks, necessitating specific training data that includes predefined inspection poses and…

3D scene flow estimation is a vital tool in perceiving our environment given depth or range sensors. Unlike optical flow, the data is usually sparse and in most cases partially occluded in between two temporal samplings. Here we propose a…

Multi-Robot Motion Planning (MRMP) involves generating collision-free trajectories for multiple robots operating in a shared continuous workspace. While discrete multi-agent path finding (MAPF) methods are broadly adopted due to their…

A high-fidelity digital simulation environment is crucial for accurately replicating physical operational processes. However, inconsistencies between simulation and physical environments result in low confidence in simulation outcomes,…

In this paper, we propose a monocular 3D object detection framework in the domain of autonomous driving. Unlike previous image-based methods which focus on RGB feature extracted from 2D images, our method solves this problem in the…

Observing that the key for robotic action planning is to understand the target-object motion when its associated part is manipulated by the end effector, we propose to generate the 3D object-part scene flow and extract its transformations…

This paper addresses the challenge of perceiving complete object shapes through visual perception. While prior studies have demonstrated encouraging outcomes in segmenting the visible parts of objects within a scene, amodal segmentation, in…

This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…

Recently, multi-modal masked autoencoders (MAE) has been introduced in 3D self-supervised learning, offering enhanced feature learning by leveraging both 2D and 3D data to capture richer cross-modal representations. However, these…

To enhance autonomous driving safety in complex scenarios, various methods have been proposed to simulate LiDAR point cloud data. Nevertheless, these methods often face challenges in producing high-quality, diverse, and controllable…

Visual perception tasks often require vast amounts of labelled data, including 3D poses and image space segmentation masks. The process of creating such training data sets can prove difficult or time-intensive to scale up to efficacy for…

The convenience of 3D sensors has led to an increase in the use of 3D point clouds in various applications. However, the differences in acquisition devices or scenarios lead to divergence in the data distribution of point clouds, which…

Implicit neural fields have made remarkable progress in reconstructing 3D surfaces from multiple images; however, they encounter challenges when it comes to separating individual objects within a scene. Previous work has attempted to tackle…

Autoregressive models have achieved remarkable success across various domains, yet their performance in 3D shape generation lags significantly behind that of diffusion models. In this paper, we introduce OctGPT, a novel multiscale…