相关论文: Inspection Planning Primitives with Implicit Model…

Implicit representations have been widely applied in robotics for obstacle avoidance and path planning. In this paper, we explore the problem of constructing an implicit distance representation from a single image. Past methods for implicit…

Autonomous exploration requires robots to generate informative trajectories iteratively. Although sampling-based methods are highly efficient in unmanned aerial vehicle exploration, many of these methods do not effectively utilize the…

Impressive progress in 3D shape extraction led to representations that can capture object geometries with high fidelity. In parallel, primitive-based methods seek to represent objects as semantically consistent part arrangements. However,…

Inspection planning, the task of planning motions that allow a robot to inspect a set of points of interest, has applications in domains such as industrial, field, and medical robotics. Inspection planning can be computationally…

We introduce a general, scalable computational framework for multi-axis 3D printing based on implicit neural fields (INFs) that unifies all stages of toolpath generation and global collision-free motion planning. In our pipeline, input…

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…

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…

Surface reconstruction has traditionally relied on the Multi-View Stereo (MVS)-based pipeline, which often suffers from noisy and incomplete geometry. This is due to that although MVS has been proven to be an effective way to recover the…

To make sense of their surroundings, intelligent systems must transform complex sensory inputs to structured codes that are reduced to task-relevant information such as object category. Biological agents achieve this in a largely autonomous…

The goal of data selection is to capture the most structural information from a set of data. This paper presents a fast and accurate data selection method, in which the selected samples are optimized to span the subspace of all data. We…

This work investigates the use of Neural implicit representations, specifically Neural Radiance Fields (NeRF), for geometrical queries and motion planning. We show that by adding the capacity to infer occupancy in a radius to a pre-trained…

Processing-in-Memory (PIM) has emerged as a promising computing paradigm to address the memory wall and the fundamental bottleneck of the von Neumann architecture by reducing costly data movement between memory and processing units. As with…

Accurate prediction of physical interaction outcomes is a crucial component of human intelligence and is important for safe and efficient deployments of robots in the real world. While there are existing vision-based intuitive physics…

Ising machines are emerging as a powerful physical alternative to digital processors for solving combinatorial optimization problems. Among them, spatial photonic Ising machines (SPIMs) offer compact, room-temperature hardware with…

It has been observed that deep neural networks (DNNs) often use both genuine as well as spurious features. In this work, we propose "Amending Inherent Interpretability via Self-Supervised Masking" (AIM), a simple yet interestingly effective…

Masked image modeling (MIM) as pre-training is shown to be effective for numerous vision downstream tasks, but how and where MIM works remain unclear. In this paper, we compare MIM with the long-dominant supervised pre-trained models from…

Although Simultaneous Localization and Mapping (SLAM) has been an active research topic for decades, current state-of-the-art methods still suffer from instability or inaccuracy due to feature insufficiency or its inherent estimation drift,…

Simulation plays a central role in scientific discovery. In many applications, the bottleneck is no longer running a simulator; it is choosing among large families of plausible simulators, each corresponding to different forward…

Multi-Agent Path Finding (MAPF) is the problem of effectively finding efficient collision-free paths for a group of agents in a shared workspace. The MAPF community has largely focused on developing high-performance heuristic search…

We present learning-based implicit shape representations designed for real-time avatar collision queries arising in the simulation of clothing. Signed distance functions (SDFs) have been used for such queries for many years due to their…