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

Flow-matching models have recently emerged as a powerful framework for continuous generative modeling, including 3D point cloud synthesis. However, their deployment is limited by the need for multiple sequential sampling steps at inference…

Fast and efficient motion planning algorithms are crucial for many state-of-the-art robotics applications such as self-driving cars. Existing motion planning methods become ineffective as their computational complexity increases…

Masked diffusion models (MDMs) are a potential alternative to autoregressive models (ARMs) for language generation, but generation quality depends critically on the generation order. Prior work either hard-codes an ordering (e.g., blockwise…

Transformer-based Self-supervised Representation Learning methods learn generic features from unlabeled datasets for providing useful network initialization parameters for downstream tasks. Recently, self-supervised learning based upon…

We propose octree-based transformers, named OctFormer, for 3D point cloud learning. OctFormer can not only serve as a general and effective backbone for 3D point cloud segmentation and object detection but also have linear complexity and is…

Recent advances in multi-modal pre-training methods have shown promising effectiveness in learning 3D representations by aligning multi-modal features between 3D shapes and their corresponding 2D counterparts. However, existing multi-modal…

Accurate object segmentation is a crucial task in the context of robotic manipulation. However, creating sufficient annotated training data for neural networks is particularly time consuming and often requires manual labeling. To this end,…

Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…

Building a robust perception module is crucial for visuomotor policy learning. While recent methods incorporate pre-trained 2D foundation models into robotic perception modules to leverage their strong semantic understanding, they struggle…

Semantic segmentation in autonomous driving has been undergoing an evolution from sparse point segmentation to dense voxel segmentation, where the objective is to predict the semantic occupancy of each voxel in the concerned 3D space. The…

Effective trajectory generation is essential for reliable on-board spacecraft autonomy. Among other approaches, learning-based warm-starting represents an appealing paradigm for solving the trajectory generation problem, effectively…

One major challenge in 3D reconstruction is to infer the complete shape geometry from partial foreground occlusions. In this paper, we propose a method to reconstruct the complete 3D shape of an object from a single RGB image, with…

Motion estimation is one of the core challenges in computer vision. With traditional dual-frame approaches, occlusions and out-of-view motions are a limiting factor, especially in the context of environmental perception for vehicles due to…

Surface reconstruction is a fundamental problem in 3D graphics. In this paper, we propose a learning-based approach for implicit surface reconstruction from raw point clouds without normals. Our method is inspired by Gauss Lemma in…

Recent object detection systems rely on two critical steps: (1) a set of object proposals is predicted as efficiently as possible, and (2) this set of candidate proposals is then passed to an object classifier. Such approaches have been…

3D Visual Grounding (3DVG) is an essential capability for embodied AI, requiring agents to localize objects in 3D scenes based on natural language descriptions. Recent zero-shot methods leverage 2D vision-language models (LVLMs). However,…

Panoptic segmentation is a fundamental task in computer vision and a crucial component for perception in autonomous vehicles. Recent mask-transformer-based methods achieve impressive performance on standard benchmarks but face significant…

Recent advances in point cloud In-Context Learning (ICL) have demonstrated strong multitask capabilities. Existing approaches typically adopt a Masked Point Modeling (MPM)-based paradigm for point cloud ICL. However, MPM-based methods…

Recently, deep learning-based 3D face reconstruction methods have demonstrated promising advancements in terms of quality and efficiency. Nevertheless, these techniques face challenges in effectively handling occluded scenes and fail to…

Learning new representations of 3D point clouds is an active research area in 3D vision, as the order-invariant point cloud structure still presents challenges to the design of neural network architectures. Recent works explored learning…