相关论文: Robust Point Cloud Reinforcement Learning via PCA-…

A reinforcement learning (RL) control policy could fail in a new/perturbed environment that is different from the training environment, due to the presence of dynamic variations. For controlling systems with continuous state and action…

Point clouds have attracted increasing attention. Significant progress has been made in methods for point cloud analysis, which often requires costly human annotation as supervision. To address this issue, we propose a novel…

Some robust point cloud registration approaches with controllable pose refinement magnitude, such as ICP and its variants, are commonly used to improve 6D pose estimation accuracy. However, the effectiveness of these methods gradually…

Point clouds captured by scanning devices are often incomplete due to occlusion. To overcome this limitation, point cloud completion methods have been developed to predict the complete shape of an object based on its partial input. These…

Point cloud-based large scale place recognition is an important but challenging task for many applications such as Simultaneous Localization and Mapping (SLAM). Taking the task as a point cloud retrieval problem, previous methods have made…

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…

In the literature, actor-critic model predictive control (AC-MPC) integrates MPC with reinforcement learning to enable high-performance control of complex dynamical systems. However, its differentiable MPC layer requires repeatedly solving…

Learning representations for pixel-based control has garnered significant attention recently in reinforcement learning. A wide range of methods have been proposed to enable efficient learning, leading to sample complexities similar to those…

Despite the numerous advances, reinforcement learning remains away from widespread acceptance for autonomous controller design as compared to classical methods due to lack of ability to effectively tackle the reality gap. The reliance on…

Recent advancements in deep learning methods have significantly improved the performance of 3D Human Pose Estimation (HPE). However, performance degradation caused by domain gaps between source and target domains remains a major challenge…

Principal component analysis (PCA), along with its extensions to manifolds and outlier contaminated data, have been indispensable in computer vision and machine learning. In this work, we present a unifying formalism for PCA and its…

Reinforcement Learning (RL) is a powerful machine learning paradigm that has been applied in various fields such as robotics, natural language processing and game playing achieving state-of-the-art results. Targeted to solve sequential…

Prior point cloud provides 3D environmental context, which enhances the capabilities of monocular camera in downstream vision tasks, such as 3D object detection, via data fusion. However, the absence of accurate and automated registration…

Point cloud-based motion capture leverages rich spatial geometry and privacy-preserving sensing, but learning robust representations from noisy, unstructured point clouds remains challenging. Existing approaches face a struggle trade-off…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

Reinforcement learning (RL) -- algorithms that teach artificial agents to interact with environments by maximising reward signals -- has achieved significant success in recent years. These successes have been facilitated by advances in…

Principal Component Analysis (PCA) has been widely used for dimensionality reduction and feature extraction. Robust PCA (RPCA), under different robust distance metrics, such as l1-norm and l2, p-norm, can deal with noise or outliers to some…

Point Cloud Registration (PCR) estimates the relative rigid transformation between two point clouds of the same scene. Despite significant progress with learning-based approaches, existing methods still face challenges when the overlapping…

The recent development of dynamic point clouds has introduced the possibility of mimicking natural reality, and greatly assisting quality of life. However, to broadcast successfully, the dynamic point clouds require higher compression due…

The efficient planning of stacking boxes, especially in the online setting where the sequence of item arrivals is unpredictable, remains a critical challenge in modern warehouse and logistics management. Existing solutions often address box…