Hao Su

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University of California, San Diego ∙ Stanford University

Assistant Professor at University of California San Diego

OCRTOC: A Cloud-Based Competition and Benchmark for Robotic Grasping and Manipulation

In this paper, we propose a cloud-based benchmark for robotic grasping a...
04/23/2021 ∙ by Ziyuan Liu, et al. ∙ 0 ∙ share

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CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Clouds

In this work, we tackle the problem of category-level online pose tracki...
04/08/2021 ∙ by Yijia Weng, et al. ∙ 5 ∙ share

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PlasticineLab: A Soft-Body Manipulation Benchmark with Differentiable Physics

Simulated virtual environments serve as one of the main driving forces b...
04/07/2021 ∙ by Zhiao Huang, et al. ∙ 7 ∙ share

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GNeRF: GAN-based Neural Radiance Field without Posed Camera

We introduce GNeRF, a framework to marry Generative Adversarial Networks...
03/29/2021 ∙ by Quan Meng, et al. ∙ 21 ∙ share

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MVSNeRF: Fast Generalizable Radiance Field Reconstruction from Multi-View Stereo

We present MVSNeRF, a novel neural rendering approach that can efficient...
03/29/2021 ∙ by Anpei Chen, et al. ∙ 0 ∙ share

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NeuTex: Neural Texture Mapping for Volumetric Neural Rendering

Recent work has demonstrated that volumetric scene representations combi...
03/01/2021 ∙ by Fanbo Xiang, et al. ∙ 0 ∙ share

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DeepMetaHandles: Learning Deformation Meta-Handles of 3D Meshes with Biharmonic Coordinates

We propose DeepMetaHandles, a 3D conditional generative model based on m...
02/18/2021 ∙ by Minghua Liu, et al. ∙ 0 ∙ share

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Design and Actuator Optimization of Lightweight and Compliant Knee Exoskeleton for Mobility Assistance of Children with Crouch Gait

Pediatric exoskeletons offer great promise to increase mobility for chil...
01/01/2021 ∙ by Sainan Zhang, et al. ∙ 0 ∙ share

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Medical Robots for Infectious Diseases: Lessons and Challenges from the COVID-19 Pandemic

Medical robots can play an important role in mitigating the spread of in...
12/14/2020 ∙ by Antonio Di Lallo, et al. ∙ 0 ∙ share

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Lipschitz Regularized CycleGAN for Improving Semantic Robustness in Unpaired Image-to-image Translation

For unpaired image-to-image translation tasks, GAN-based approaches are ...
12/09/2020 ∙ by Zhiwei Jia, et al. ∙ 0 ∙ share

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Compositionally Generalizable 3D Structure Prediction

Single-image 3D shape reconstruction is an important and long-standing p...
12/04/2020 ∙ by Songfang Han, et al. ∙ 11 ∙ share

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An End-to-end Method for Producing Scanning-robust Stylized QR Codes

Quick Response (QR) code is one of the most worldwide used two-dimension...
11/16/2020 ∙ by Hao Su, et al. ∙ 32 ∙ share

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Rearrangement: A Challenge for Embodied AI

We describe a framework for research and evaluation in Embodied AI. Our ...
11/03/2020 ∙ by Dhruv Batra, et al. ∙ 2 ∙ share

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Refactoring Policy for Compositional Generalizability using Self-Supervised Object Proposals

We study how to learn a policy with compositional generalizability. We p...
10/26/2020 ∙ by Tongzhou Mu, et al. ∙ 0 ∙ share

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Towards Scale-Invariant Graph-related Problem Solving by Iterative Homogeneous Graph Neural Networks

Current graph neural networks (GNNs) lack generalizability with respect ...
10/26/2020 ∙ by Hao Tang, et al. ∙ 0 ∙ share

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Photon-Driven Neural Path Guiding

Although Monte Carlo path tracing is a simple and effective algorithm to...
10/05/2020 ∙ by Shilin Zhu, et al. ∙ 0 ∙ share

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Weakly-supervised 3D Shape Completion in the Wild

3D shape completion for real data is important but challenging, since pa...
08/20/2020 ∙ by Jiayuan Gu, et al. ∙ 11 ∙ share

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Deep Keypoint-Based Camera Pose Estimation with Geometric Constraints

Estimating relative camera poses from consecutive frames is a fundamenta...
07/29/2020 ∙ by You-Yi Jau, et al. ∙ 1 ∙ share

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Balance Scene Learning Mechanism for Offshore and Inshore Ship Detection in SAR Images

This letter proposes a novel Balance Scene Learning Mechanism (BSLM) for...
07/21/2020 ∙ by Tianwen Zhang, et al. ∙ 0 ∙ share

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Meshing Point Clouds with Predicted Intrinsic-Extrinsic Ratio Guidance

We are interested in reconstructing the mesh representation of object su...
07/17/2020 ∙ by Minghua Liu, et al. ∙ 0 ∙ share

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Rethinking Sampling in 3D Point Cloud Generative Adversarial Networks

In this paper, we examine the long-neglected yet important effects of po...
06/12/2020 ∙ by He Wang, et al. ∙ 10 ∙ share

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Deep Photon Mapping

Recently, deep learning-based denoising approaches have led to dramatic ...
04/25/2020 ∙ by Shilin Zhu, et al. ∙ 0 ∙ share

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Unpaired Photo-to-manga Translation Based on The Methodology of Manga Drawing

Manga is a world popular comic form originated in Japan, which typically...
04/22/2020 ∙ by Hao Su, et al. ∙ 0 ∙ share

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Quasi-Direct Drive Actuation for a Lightweight Hip Exoskeleton with High Backdrivability and High Bandwidth

High-performance actuators are crucial to enable mechanical versatility ...
04/01/2020 ∙ by Shuangyue Yu, et al. ∙ 0 ∙ share

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SAPIEN: A SimulAted Part-based Interactive ENvironment

Building home assistant robots has long been a pursuit for vision and ro...
03/19/2020 ∙ by Fanbo Xiang, et al. ∙ 7 ∙ share

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Learning to Group: A Bottom-Up Framework for 3D Part Discovery in Unseen Categories

We address the problem of discovering 3D parts for objects in unseen cat...
02/16/2020 ∙ by Tiange Luo, et al. ∙ 11 ∙ share

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Regret Bounds for Discounted MDPs

Recently, it has been shown that carefully designed reinforcement learni...
02/12/2020 ∙ by Shuang Liu, et al. ∙ 0 ∙ share

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Deep Stereo using Adaptive Thin Volume Representation with Uncertainty Awareness

We present Uncertainty-aware Cascaded Stereo Network (UCS-Net) for 3D re...
11/27/2019 ∙ by Shuo Cheng, et al. ∙ 27 ∙ share

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StructEdit: Learning Structural Shape Variations

Learning to encode differences in the geometry and (topological) structu...
11/25/2019 ∙ by Kaichun Mo, et al. ∙ 11 ∙ share

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Normal Assisted Stereo Depth Estimation

Accurate stereo depth estimation plays a critical role in various 3D tas...
11/24/2019 ∙ by Uday Kusupati, et al. ∙ 15 ∙ share

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State Alignment-based Imitation Learning

Consider an imitation learning problem that the imitator and the expert ...
11/21/2019 ∙ by Fangchen Liu, et al. ∙ 0 ∙ share

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Information-Theoretic Local Minima Characterization and Regularization

Recent advances in deep learning theory have evoked the study of general...
11/19/2019 ∙ by Zhiwei Jia, et al. ∙ 0 ∙ share

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S4G: Amodal Single-view Single-Shot SE(3) Grasp Detection in Cluttered Scenes

Grasping is among the most fundamental and long-lasting problems in robo...
10/31/2019 ∙ by Yuzhe Qin, et al. ∙ 0 ∙ share

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Multi-view PointNet for 3D Scene Understanding

Fusion of 2D images and 3D point clouds is important because information...
09/30/2019 ∙ by Maximilian Jaritz, et al. ∙ 0 ∙ share

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Model Imitation for Model-Based Reinforcement Learning

Model-based reinforcement learning (MBRL) aims to learn a dynamic model ...
09/25/2019 ∙ by Yueh-Hua Wu, et al. ∙ 9 ∙ share

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Pre-training as Batch Meta Reinforcement Learning with tiMe

Pre-training is transformative in supervised learning: a large network t...
09/25/2019 ∙ by Quan Vuong, et al. ∙ 0 ∙ share

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Adversarial point perturbations on 3D objects

The importance of training robust neural network grows as 3D data is inc...
08/16/2019 ∙ by Daniel Liu, et al. ∙ 0 ∙ share

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Mapping State Space using Landmarks for Universal Goal Reaching

An agent that has well understood the environment should be able to appl...
08/15/2019 ∙ by Zhiao Huang, et al. ∙ 2 ∙ share

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Point-Based Multi-View Stereo Network

We introduce Point-MVSNet, a novel point-based deep framework for multi-...
08/12/2019 ∙ by Rui Chen, et al. ∙ 0 ∙ share

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StructureNet: Hierarchical Graph Networks for 3D Shape Generation

The ability to generate novel, diverse, and realistic 3D shapes along wi...
08/01/2019 ∙ by Kaichun Mo, et al. ∙ 5 ∙ share

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Spine-Inspired Continuum Soft Exoskeleton for Stoop Lifting Assistance

Back injuries are the most prevalent work-related musculoskeletal disord...
07/04/2019 ∙ by Xiaolong Yang, et al. ∙ 0 ∙ share

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How to pick the domain randomization parameters for sim-to-real transfer of reinforcement learning policies?

Recently, reinforcement learning (RL) algorithms have demonstrated remar...
03/28/2019 ∙ by Quan Vuong, et al. ∙ 12 ∙ share

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A Soft High Force Hand Exoskeleton for Rehabilitation and Assistance of Spinal Cord Injury and Stroke Individuals

Individuals with spinal cord injury (SCI) and stroke who is lack of mani...
02/19/2019 ∙ by Shuangyue Yu, et al. ∙ 0 ∙ share

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Design and Control of a Quasi-Direct Drive Soft Hybrid Knee Exoskeleton for Injury Prevention during Squatting

This paper presents a new design approach of wearable robots that tackle...
02/19/2019 ∙ by Shuangyue Yu, et al. ∙ 0 ∙ share

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Comfort-Centered Design of a Lightweight and Backdrivable Knee Exoskeleton

This paper presents design principles for comfort-centered wearable robo...
02/11/2019 ∙ by Junlin Wang, et al. ∙ 0 ∙ share

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DeepSpline: Data-Driven Reconstruction of Parametric Curves and Surfaces

Reconstruction of geometry based on different input modes, such as image...
01/12/2019 ∙ by Jun Gao, et al. ∙ 12 ∙ share

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Extending Adversarial Attacks and Defenses to Deep 3D Point Cloud Classifiers

3D object classification and segmentation using deep neural networks has...
01/10/2019 ∙ by Daniel Liu, et al. ∙ 0 ∙ share

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A Main/Subsidiary Network Framework for Simplifying Binary Neural Network

To reduce memory footprint and run-time latency, techniques such as neur...
12/11/2018 ∙ by Yinghao Xu, et al. ∙ 0 ∙ share

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PartNet: A Large-scale Benchmark for Fine-grained and Hierarchical Part-level 3D Object Understanding

We present PartNet: a consistent, large-scale dataset of 3D objects anno...
12/06/2018 ∙ by Kaichun Mo, et al. ∙ 8 ∙ share

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Adversarial Defense by Stratified Convolutional Sparse Coding

We propose an adversarial defense method that achieves state-of-the-art ...
11/30/2018 ∙ by Bo Sun, et al. ∙ 0 ∙ share

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Hao Su

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