相关论文: Pointy - A Lightweight Transformer for Point Cloud…

Perceiving the environment via cameras is crucial for Reinforcement Learning (RL) in robotics. While images are a convenient form of representation, they often complicate extracting important geometric details, especially with varying…

Embodied intelligence requires agents to interact with 3D environments in real time based on language instructions. A foundational task in this domain is ego-centric 3D visual grounding. However, the point clouds rendered from RGB-D images…

Point clouds are rich geometric data structures, where their three dimensional structure offers an excellent domain for understanding the representation learning and generative modeling in 3D space. In this work, we aim to improve the…

3D face recognition has shown its potential in many application scenarios. Among numerous 3D face recognition methods, deep-learning-based methods have developed vigorously in recent years. In this paper, an end-to-end deep learning network…

Compared with traditional task-irrelevant downsampling methods, task-oriented neural networks have shown improved performance in point cloud downsampling range. Recently, Transformer family of networks has shown a more powerful learning…

Deep neural networks are widely used for understanding 3D point clouds. At each point convolution layer, features are computed from local neighborhoods of 3D points and combined for subsequent processing in order to extract semantic…

In this paper, we propose a simple yet effective method to represent point clouds as sets of samples drawn from a cloud-specific probability distribution. This interpretation matches intrinsic characteristics of point clouds: the number of…

Despite the extensive usage of point clouds in 3D vision, relatively limited data are available for training deep neural networks. Although data augmentation is a standard approach to compensate for the scarcity of data, it has been less…

While machine learning is widely used to optimize wireless networks, training a separate model for each task in communication and localization is becoming increasingly unsustainable due to the significant costs associated with training and…

Point cloud understanding is an inherently challenging problem because of the sparse and unordered structure of the point cloud in the 3D space. Recently, Contrastive Vision-Language Pre-training (CLIP) based point cloud classification…

We introduce Point2Skeleton, an unsupervised method to learn skeletal representations from point clouds. Existing skeletonization methods are limited to tubular shapes and the stringent requirement of watertight input, while our method aims…

Manual annotation of large-scale point cloud dataset for varying tasks such as 3D object classification, segmentation and detection is often laborious owing to the irregular structure of point clouds. Self-supervised learning, which…

The unprecedented advancements in Large Language Models (LLMs) have shown a profound impact on natural language processing but are yet to fully embrace the realm of 3D understanding. This paper introduces PointLLM, a preliminary effort to…

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…

Transformers are widely used deep learning architectures. Existing transformers are mostly designed for sequences (texts or time series), images or videos, and graphs. This paper proposes a novel transformer model for massive (up to a…

As the task of 2D-to-3D reconstruction has gained significant attention in various real-world scenarios, it becomes crucial to be able to generate high-quality point clouds. Despite the recent success of deep learning models in generating…

Transformers have reshaped machine learning by utilizing attention mechanisms to capture complex patterns in large datasets, leading to significant improvements in performance. This success has contributed to the belief that "bigger means…

Point cloud analysis has drawn broader attentions due to its increasing demands in various fields. Despite the impressive performance has been achieved on several databases, researchers neglect the fact that the orientation of those point…

In video action recognition, transformers consistently reach state-of-the-art accuracy. However, many models are too heavyweight for the average researcher with limited hardware resources. In this work, we explore the limitations of video…

We present Points2Plans, a framework for composable planning with a relational dynamics model that enables robots to solve long-horizon manipulation tasks from partial-view point clouds. Given a language instruction and a point cloud of the…