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05/09/2023
TidyBot: Personalized Robot Assistance with Large Language Models
For a robot to personalize physical assistance effectively, it must lear...
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04/07/2023
Clutter Detection and Removal in 3D Scenes with View-Consistent Inpainting
Removing clutter from scenes is essential in many applications, ranging ...
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03/06/2023
Nerflets: Local Radiance Fields for Efficient Structure-Aware 3D Scene Representation from 2D Supervision
We address efficient and structure-aware 3D scene representation from im...
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02/09/2023
Polynomial Neural Fields for Subband Decomposition and Manipulation
Neural fields have emerged as a new paradigm for representing signals, t...
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11/28/2022
OpenScene: 3D Scene Understanding with Open Vocabularies
Traditional 3D scene understanding approaches rely on labeled 3D dataset...
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11/25/2022
Forecasting Actions and Characteristic 3D Poses
We propose to model longer-term future human behavior by jointly predict...
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07/30/2022
MobileNeRF: Exploiting the Polygon Rasterization Pipeline for Efficient Neural Field Rendering on Mobile Architectures
Neural Radiance Fields (NeRFs) have demonstrated amazing ability to synt...
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05/09/2022
Panoptic Neural Fields: A Semantic Object-Aware Neural Scene Representation
We present Panoptic Neural Fields (PNF), an object-aware neural scene re...
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04/05/2022
Learning Pneumatic Non-Prehensile Manipulation with a Mobile Blower
We investigate pneumatic non-prehensile manipulation (i.e., blowing) as ...
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12/14/2021
Revisiting 3D Object Detection From an Egocentric Perspective
3D object detection is a key module for safety-critical robotics applica...
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11/29/2021
Urban Radiance Fields
The goal of this work is to perform 3D reconstruction and novel view syn...
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11/25/2021
Scene Representation Transformer: Geometry-Free Novel View Synthesis Through Set-Latent Scene Representations
A classical problem in computer vision is to infer a 3D scene representa...
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10/21/2021
Learning 3D Semantic Segmentation with only 2D Image Supervision
With the recent growth of urban mapping and autonomous driving efforts, ...
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09/12/2021
Multiresolution Deep Implicit Functions for 3D Shape Representation
We introduce Multiresolution Deep Implicit Functions (MDIF), a hierarchi...
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07/06/2021
Contrastive Multimodal Fusion with TupleInfoNCE
This paper proposes a method for representation learning of multimodal d...
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03/23/2021
Spatial Intention Maps for Multi-Agent Mobile Manipulation
The ability to communicate intention enables decentralized multi-agent r...
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02/25/2021
IBRNet: Learning Multi-View Image-Based Rendering
We present a method that synthesizes novel views of complex scenes by in...
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12/24/2020
P4Contrast: Contrastive Learning with Pairs of Point-Pixel Pairs for RGB-D Scene Understanding
Self-supervised representation learning is a critical problem in compute...
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12/15/2020
Object-Centric Neural Scene Rendering
We present a method for composing photorealistic scenes from captured im...
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12/08/2020
Robust Neural Routing Through Space Partitions for Camera Relocalization in Dynamic Indoor Environments
Localizing the camera in a known indoor environment is a key building bl...
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11/30/2020
Forecasting Characteristic 3D Poses of Human Actions
We propose the task of forecasting characteristic 3D poses: from a singl...
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11/09/2020
Learning to Infer Semantic Parameters for 3D Shape Editing
Many applications in 3D shape design and augmentation require the abilit...
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09/24/2020
Multi-Frame to Single-Frame: Knowledge Distillation for 3D Object Detection
A common dilemma in 3D object detection for autonomous driving is that h...
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07/26/2020
Virtual Multi-view Fusion for 3D Semantic Segmentation
Semantic segmentation of 3D meshes is an important problem for 3D scene ...
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07/24/2020
An LSTM Approach to Temporal 3D Object Detection in LiDAR Point Clouds
Detecting objects in 3D LiDAR data is a core technology for autonomous d...
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07/20/2020
Pillar-based Object Detection for Autonomous Driving
We present a simple and flexible object detection framework optimized fo...
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07/16/2020
Complete Label: A Domain Adaptation Approach to Semantic Segmentation of LiDAR Point Clouds
We study an unsupervised domain adaptation problem for the semantic labe...
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04/20/2020
Spatial Action Maps for Mobile Manipulation
This paper proposes a new action representation for learning to perform ...
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03/19/2020
Local Implicit Grid Representations for 3D Scenes
Shape priors learned from data are commonly used to reconstruct 3D objec...
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03/18/2020
Adversarial Texture Optimization from RGB-D Scans
Realistic color texture generation is an important step in RGB-D surface...
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12/12/2019
Deep Structured Implicit Functions
The goal of this project is to learn a 3D shape representation that enab...
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12/12/2019
Local Deep Implicit Functions for 3D Shape
The goal of this project is to learn a 3D shape representation that enab...
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12/09/2019
Grasping in the Wild:Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrations
Intelligent manipulation benefits from the capacity to flexibly control ...
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09/25/2019
Rescan: Inductive Instance Segmentation for Indoor RGBD Scans
In depth-sensing applications ranging from home robotics to AR/VR, it wi...
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06/18/2019
Neural Illumination: Lighting Prediction for Indoor Environments
This paper addresses the task of estimating the light arriving from all ...
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04/12/2019
Learning Shape Templates with Structured Implicit Functions
Template 3D shapes are useful for many tasks in graphics and vision, inc...
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03/29/2019
FrameNet: Learning Local Canonical Frames of 3D Surfaces from a Single RGB Image
In this work, we introduce the novel problem of identifying dense canoni...
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03/27/2019
TossingBot: Learning to Throw Arbitrary Objects with Residual Physics
We investigate whether a robot arm can learn to pick and throw arbitrary...
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11/30/2018
TextureNet: Consistent Local Parametrizations for Learning from High-Resolution Signals on Meshes
We introduce, TextureNet, a neural network architecture designed to extr...
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08/04/2018
Structure-Aware Shape Synthesis
We propose a new procedure to guide training of a data-driven shape gene...
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07/16/2018
ActiveStereoNet: End-to-End Self-Supervised Learning for Active Stereo Systems
In this paper we present ActiveStereoNet, the first deep learning soluti...
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03/27/2018
Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning
Skilled robotic manipulation benefits from complex synergies between non...
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03/25/2018
Deep Depth Completion of a Single RGB-D Image
The goal of our work is to complete the depth channel of an RGB-D image....
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03/22/2018
Text2Shape: Generating Shapes from Natural Language by Learning Joint Embeddings
We present a method for generating colored 3D shapes from natural langua...
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03/22/2018
PlaneMatch: Patch Coplanarity Prediction for Robust RGB-D Reconstruction
We introduce a novel RGB-D patch descriptor designed for detecting copla...
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12/12/2017
Im2Pano3D: Extrapolating 360 Structure and Semantics Beyond the Field of View
We present Im2Pano3D, a convolutional neural network that generates a de...
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12/11/2017
MINOS: Multimodal Indoor Simulator for Navigation in Complex Environments
We present MINOS, a simulator designed to support the development of mul...
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10/17/2017
Large-Scale 3D Shape Reconstruction and Segmentation from ShapeNet Core55
We introduce a large-scale 3D shape understanding benchmark using data a...
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10/03/2017
Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching
This paper presents a robotic pick-and-place system that is capable of g...
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09/18/2017