相关论文: Learning Geometrically-Informed Lyapunov Functions…

Geometric transformations have been widely used to augment the size of training images. Existing methods often assume a unimodal distribution of the underlying transformations between images, which limits their power when data with…

Deformable shapes provide important and complex geometric features of objects presented in images. However, such information is oftentimes missing or underutilized as implicit knowledge in many image analysis tasks. This paper presents…

Neural signed distance functions (SDFs) have been a vital representation to represent 3D shapes or scenes with neural networks. An SDF is an implicit function that can query signed distances at specific coordinates for recovering a 3D…

While stability analysis is a mainstay for control science, especially computing regions of attraction of equilibrium points, until recently most stability analysis tools always required explicit knowledge of the model or a high-fidelity…

Despite the fast progress of deep learning, one standing challenge is the gap of the observed training samples and the underlying true distribution. There are multiple reasons for the causing of this gap e.g. sampling bias, noise etc. In…

Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they…

We propose a sampling-based approach to learn Lyapunov functions for a class of discrete-time autonomous hybrid systems that admit a mixed-integer representation. Such systems include autonomous piecewise affine systems, closed-loop…

Deep learning has enabled remarkable improvements in grasp synthesis for previously unseen objects from partial object views. However, existing approaches lack the ability to explicitly reason about the full 3D geometry of the object when…

Object rearranging is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a goal configuration. Previous studies focus on designing an expert system for each specific task by…

Vision-based localization of an agent in a map is an important problem in robotics and computer vision. In that context, localization by learning matchable image features is gaining popularity due to recent advances in machine learning.…

Deformable image registration poses a challenging problem where, unlike most deep learning tasks, a complex relationship between multiple coordinate systems has to be considered. Although data-driven methods have shown promising…

Robotic tasks often require motions with complex geometric structures. We present an approach to learn such motions from a limited number of human demonstrations by exploiting the regularity properties of human motions e.g. stability,…

Diffeomorphic deformable image registration is crucial in many medical image studies, as it offers unique, special properties including topology preservation and invertibility of the transformation. Recent deep learning-based deformable…

Template 3D shapes are useful for many tasks in graphics and vision, including fitting observation data, analyzing shape collections, and transferring shape attributes. Because of the variety of geometry and topology of real-world shapes,…

We investigate the dependence of the approximation capacity of deep residual networks on its depth in a continuous dynamical systems setting. This can be formulated as the general problem of quantifying the minimal time-horizon required to…

Graph convolution operators bring the advantages of deep learning to a variety of graph and mesh processing tasks previously deemed out of reach. With their continued success comes the desire to design more powerful architectures, often by…

This paper proposes a new framework and algorithms to address the problem of diffeomorphic registration on a general class of geometric objects that can be described as discrete distributions of local direction vectors. It builds on both…

With the expanding application scope of unmanned aerial vehicles (UAVs), the demand for stable UAV control has significantly increased. However, in complex environments, GPS signals are prone to interference, resulting in ineffective UAV…

The goal of this paper is to learn dense 3D shape correspondence for topology-varying objects in an unsupervised manner. Conventional implicit functions estimate the occupancy of a 3D point given a shape latent code. Instead, our novel…

Capturing the shape and spatially-varying appearance (SVBRDF) of an object from images is a challenging task that has applications in both computer vision and graphics. Traditional optimization-based approaches often need a large number of…