7 accepted papers
Indoor environments evolve as objects move, appear, or leave the scene. Capturing these dynamics requires maintaining temporally consistent instance identities across intermittently captured 3D scans, even when changes are unobserved. We introduce and formalize the task of temporally sparse 4D indoo
In this paper, we question whether we have a reliable self-supervised point cloud model that can be used for diverse 3D tasks via simple linear probing, even with limited data and minimal computation. We find that existing 3D self-supervised learning approaches fall short when evaluated on represent…
We introduce VertexRegen, a novel mesh generation framework that enables generation at a continuous level of detail. Existing autoregressive methods generate meshes in a partial-to-complete manner and thus intermediate steps of generation represent incomplete structures. VertexRegen takes inspiratio…
We introduce ReplaceAnything3D model RAM3D, a novel method for 3D object replacement in 3D scenes based on users' text description. Given multi-view images of a scene, a text prompt describing the object to replace, and another describing the new object, our Erase-and-Replace approach can effectivel…
Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem down into two parts: (1) finding physically valid locations f…
Segmenting unseen object instances in cluttered environments is an important capability that robots need when functioning in unstructured environments. While previous methods have exhibited promising results, they still tend to provide incorrect results in highly cluttered scenes. We postulate that…
In this paper, we present a robotic model-based reinforcement learning method that combines ideas from model identification and model predictive control. We use a feature-based representation of the dynamics that allows the dynamics model to be fitted with a simple least squares procedure, and the f