相关论文: PUMPS: Skeleton-Agnostic Point-based Universal Mot…

Although recent point cloud analysis achieves impressive progress, the paradigm of representation learning from a single modality gradually meets its bottleneck. In this work, we take a step towards more discriminative 3D point cloud…

Robust imitation learning for robot manipulation requires comprehensive 3D perception, yet many existing methods struggle in cluttered environments. Fixed camera view approaches are vulnerable to perspective changes, and 3D point cloud…

Contemporary deep neural networks offer state-of-the-art results when applied to visual reasoning, e.g., in the context of 3D point cloud data. Point clouds are important datatype for precise modeling of three-dimensional environments, but…

In this paper, we focus on latent modification and generation of 3D point cloud object models with respect to their semantic parts. Different to the existing methods which use separate networks for part generation and assembly, we propose a…

Environment perception including detection, classification, tracking, and motion prediction are key enablers for automated driving systems and intelligent transportation applications. Fueled by the advances in sensing technologies and…

HPC systems expose many configuration parameters that jointly drive competing objectives. Existing tools such as autotuners recommend good configurations but do not identify minimal changes for a near-miss configuration to meet a…

Recently, the pre-training paradigm combining Transformer and masked language modeling has achieved tremendous success in NLP, images, and point clouds, such as BERT. However, directly extending BERT from NLP to point clouds requires…

Accurate human motion prediction is crucial for safe human-robot collaboration but remains challenging due to the complexity of modeling intricate and variable human movements. This paper presents Parallel Multi-scale Incremental Prediction…

This paper simultaneously addresses three limitations associated with conventional skeleton-based action recognition; skeleton detection and tracking errors, poor variety of the targeted actions, as well as person-wise and frame-wise action…

The growing size of point clouds enlarges consumptions of storage, transmission, and computation of 3D scenes. Raw data is redundant, noisy, and non-uniform. Therefore, simplifying point clouds for achieving compact, clean, and uniform…

Existing techniques for 3D action recognition are sensitive to viewpoint variations because they extract features from depth images which change significantly with viewpoint. In contrast, we directly process the pointclouds and propose a…

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…

Existing point cloud representation learning methods primarily rely on data-driven strategies to extract geometric information from large amounts of scattered data. However, most methods focus solely on the spatial distribution features of…

Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised…

Point clouds acquired in constrained, challenging, uncontrolled, and multi-sensor real-world settings are noisy, incomplete, and non-uniformly sparse. This presents acute challenges for the vital task of point cloud completion. Using tools…

The automatic semantic segmentation of the huge amount of acquired remote sensing data has become an important task in the last decade. Images and Point Clouds (PCs) are fundamental data representations, particularly in urban mapping…

A major source of endoscopic tissue tracking errors during deformations stems from wrong data association between observed sensor measurements with previously tracked scene. To mitigate this issue, we present a surgical perception…

Motion generation is fundamental to computer animation and widely used across entertainment, robotics, and virtual environments. While recent methods achieve impressive results, most rely on fixed skeletal templates, which prevent them from…

3D world models (i.e., learning-based 3D dynamics models) offer a promising approach to generalizable robotic manipulation by capturing the underlying physics of environment evolution conditioned on robot actions. However, existing 3D world…

Skeleton-based human action recognition has received widespread attention in recent years due to its diverse range of application scenarios. Due to the different sources of human skeletons, skeleton data naturally exhibit heterogeneity. The…