相关论文: PRISM: Pointcloud Reintegrated Inference via Segme…

We propose PRISM, a novel framework designed to overcome the limitations of 2D-based Preference-Based Reinforcement Learning (PBRL) by unifying 3D point cloud modeling and future-aware preference refinement. At its core, PRISM adopts a 3D…

In this paper, we present PRISM, a Promptable and Robust Interactive Segmentation Model, aiming for precise segmentation of 3D medical images. PRISM accepts various visual inputs, including points, boxes, and scribbles as sparse prompts, as…

Precise robot manipulations require rich spatial information in imitation learning. Image-based policies model object positions from fixed cameras, which are sensitive to camera view changes. Policies utilizing 3D point clouds usually…

Point cloud analysis without pose priors is very challenging in real applications, as the orientations of point clouds are often unknown. In this paper, we propose a brand new point-set learning framework PRIN, namely, Point-wise Rotation…

We present PRISM, a novel color-guided stratified sampling method for RGB-LiDAR point clouds. Our approach is motivated by the observation that unique scene features often exhibit chromatic diversity while repetitive, redundant features are…

Robotic imitation learning typically requires models that capture multimodal action distributions while operating at real-time control rates and accommodating multiple sensing modalities. Although recent generative approaches such as…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

Point cloud analysis without pose priors is very challenging in real applications, as the orientations of point clouds are often unknown. In this paper, we propose a brand new point-set learning framework PRIN, namely, Pointwise…

Leveraging pre-trained 2D image representations in behavior cloning policies has achieved great success and has become a standard approach for robotic manipulation. However, such representations fail to capture the 3D spatial information…

Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure, while RGB images provide rich semantic context. Current…

Designing protein sequences that fold into a target 3-D structure, termed as the inverse folding problem, is central to protein engineering. However, it remains challenging due to the vast sequence space and the importance of local…

The development of 2D foundation models for image segmentation has been significantly advanced by the Segment Anything Model (SAM). However, achieving similar success in 3D models remains a challenge due to issues such as non-unified data…

Visual control policies can encounter significant performance degradation when visual conditions like lighting or camera position differ from those seen during training -- often exhibiting sharp declines in capability even for minor…

The recent success of pre-trained 2D vision models is mostly attributable to learning from large-scale datasets. However, compared with 2D image datasets, the current pre-training data of 3D point cloud is limited. To overcome this…

Video dataset condensation aims to reduce the immense computational cost of video processing. However, it faces a fundamental challenge regarding the inseparable interdependence between spatial appearance and temporal dynamics. Prior work…

Matrix functions such as square root, inverse roots, and orthogonalization play a central role in preconditioned gradient methods for neural network training. This has motivated the development of iterative algorithms that avoid explicit…

Accurately retrieving images that are semantically similar remains a fundamental challenge in computer vision, as traditional methods often fail to capture the relational and contextual nuances of a scene. We introduce PRISm (Pruning-based…

Scientific and environmental imagery often suffer from complex mixtures of noise related to the sensor and the environment. Existing restoration methods typically remove one degradation at a time, leading to cascading artifacts,…

We introduce Projection-based Reduction of Implicit Spurious bias in vision-language Models (PRISM), a new data-free and task-agnostic solution for bias mitigation in VLMs like CLIP. VLMs often inherit and amplify biases in their training…

Foundation models (FMs) have achieved remarkable success across a wide range of applications, from image classification to natural langurage processing, but pose significant challenges for deployment at edge. This has sparked growing…