相关论文: Learning Geometrically-Informed Lyapunov Functions…

We introduce in this paper a learning paradigm in which the training data is transformed by a diffeomorphic transformation before prediction. The learning algorithm minimizes a cost function evaluating the prediction error on the training…

Deep Implicit Functions (DIFs) represent 3D geometry with continuous signed distance functions learned through deep neural nets. Recently DIFs-based methods have been proposed to handle shape reconstruction and dense point correspondences…

Many recent efforts have been devoted to designing sophisticated deep learning structures, obtaining revolutionary results on benchmark datasets. The success of these deep learning methods mostly relies on an enormous volume of labeled…

Deep learning methods have been widely used in robotic applications, making learning-enabled control design for complex nonlinear systems a promising direction. Although deep reinforcement learning methods have demonstrated impressive…

We introduce a neural implicit framework that exploits the differentiable properties of neural networks and the discrete geometry of point-sampled surfaces to approximate them as the level sets of neural implicit functions. To train a…

Conventional deformable registration methods aim at solving an optimization model carefully designed on image pairs and their computational costs are exceptionally high. In contrast, recent deep learning based approaches can provide fast…

Dexterous and autonomous robots should be capable of executing elaborated dynamical motions skillfully. Learning techniques may be leveraged to build models of such dynamic skills. To accomplish this, the learning model needs to encode a…

Learning algorithms have shown considerable prowess in simulation by allowing robots to adapt to uncertain environments and improve their performance. However, such algorithms are rarely used in practice on safety-critical systems, since…

We present a novel learning-based approach for computing correspondences between non-rigid 3D shapes. Unlike previous methods that either require extensive training data or operate on handcrafted input descriptors and thus generalize poorly…

State-of-the-art fully intrinsic networks for non-rigid shape matching often struggle to disambiguate the symmetries of the shapes leading to unstable correspondence predictions. Meanwhile, recent advances in the functional map framework…

Ensuring safety and robustness of robot skills is becoming crucial as robots are required to perform increasingly complex and dynamic tasks. The former is essential when performing tasks in cluttered environments, while the latter is…

Despite advances in learning-based methods, finding valid Lyapunov functions for nonlinear dynamical systems remains challenging. Current neural network approaches face two main issues: challenges in scalable verification and limited…

This paper introduces GeoMorph, a novel geometric deep-learning framework designed for image registration of cortical surfaces. The registration process consists of two main steps. First, independent feature extraction is performed on each…

Stability certificates play a critical role in ensuring the safety and reliability of robotic systems. However, deriving these certificates for complex, unknown systems has traditionally required explicit knowledge of system dynamics, often…

Deep functional maps have recently emerged as a successful paradigm for non-rigid 3D shape correspondence tasks. An essential step in this pipeline consists in learning feature functions that are used as constraints to solve for a…

Deep implicit functions (DIFs), as a kind of 3D shape representation, are becoming more and more popular in the 3D vision community due to their compactness and strong representation power. However, unlike polygon mesh-based templates, it…

Diffeomorphic deformable image registration is one of the crucial tasks in medical image analysis, which aims to find a unique transformation while preserving the topology and invertibility of the transformation. Deep convolutional neural…

The correlation matrix is a central representation of functional brain networks in neuroimaging. Traditional analyses often treat pairwise interactions independently in a Euclidean setting, overlooking the intrinsic geometry of correlation…

Accurate tracking of an anatomical landmark over time has been of high interests for disease assessment such as minimally invasive surgery and tumor radiation therapy. Ultrasound imaging is a promising modality benefiting from low-cost and…

We present a novel two-view geometry estimation framework which is based on a differentiable robust loss function fitting. We propose to treat the robust fundamental matrix estimation as an implicit layer, which allows us to avoid…