相关论文: PPL: Point Cloud Supervised Proprioceptive Locomot…

Normal estimation on 3D point clouds is a fundamental problem in 3D vision and graphics. Current methods often show limited accuracy in predicting normals at sharp features (e.g., edges and corners) and less robustness to noise. In this…

Recent advancements in legged robot perceptive locomotion have shown promising progress. However, terrain-aware humanoid locomotion remains largely constrained to two paradigms: depth image-based end-to-end learning and elevation map-based…

Point cloud is a crucial representation of 3D contents, which has been widely used in many areas such as virtual reality, mixed reality, autonomous driving, etc. With the boost of the number of points in the data, how to efficiently…

Point cloud completion aims to recover partial geometric and topological shapes caused by equipment defects or limited viewpoints. Current methods either solely rely on the 3D coordinates of the point cloud to complete it or incorporate…

3D scene understanding from point clouds plays a vital role for various robotic applications. Unfortunately, current state-of-the-art methods use separate neural networks for different tasks like object detection or room layout estimation.…

Online reinforcement learning (RL) methods are often data-inefficient or unreliable, making them difficult to train on real robotic hardware, especially quadruped robots. Learning robotic tasks from pre-collected data is a promising…

Stabilizing legged robot locomotion on a dynamic rigid surface (DRS) (i.e., rigid surface that moves in the inertial frame) is a complex planning and control problem. The complexity arises due to the hybrid nonlinear walking dynamics…

In recent years, point cloud representation has become one of the research hotspots in the field of computer vision, and has been widely used in many fields, such as autonomous driving, virtual reality, robotics, etc. Although deep learning…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…

A robot operating in a real-world environment needs to perform reasoning over a variety of sensor modalities such as vision, language and motion trajectories. However, it is extremely challenging to manually design features relating such…

Excavation of irregular rigid objects in clutter, such as fragmented rocks and wood blocks, is very challenging due to their complex interaction dynamics and highly variable geometries. In this paper, we adopt reinforcement learning (RL) to…

This paper presents a novel approach for representing proprioceptive time-series data from quadruped robots as structured two-dimensional images, enabling the use of convolutional neural networks for learning locomotion-related tasks. The…

Point clouds are a widely available and canonical data modality which convey the 3D geometry of a scene. Despite significant progress in classification and segmentation from point clouds, policy learning from such a modality remains…

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…

Point cloud patterns are hard to learn because of the implicit local geometry features among the orderless points. In recent years, point cloud representation in 2D space has attracted increasing research interest since it exposes the local…

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…

We present an approach to learning features that represent the local geometry around a point in an unstructured point cloud. Such features play a central role in geometric registration, which supports diverse applications in robotics and 3D…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Traversing risky terrains with sparse footholds presents significant challenges for legged robots, requiring precise foot placement in safe areas. To acquire comprehensive exteroceptive information, prior studies have employed motion…

This paper addresses the task of estimating the 6 degrees of freedom pose of a known 3D object from depth information represented by a point cloud. Deep features learned by convolutional neural networks from color information have been the…