77 accepted papers
Accurate 3D reconstruction of objects with reflective, transparent, or low-texture surfaces still remains notoriously challenging. Such materials often violate key assumptions in multi-view reconstruction pipelines, such as photometric consistency and the availability on distinct geometric texture c
In autonomous driving, vision-centric 3D object detection recognizes and localizes 3D objects from RGB images. However, due to high annotation costs and diverse outdoor scenes, training data often fails to cover all possible test scenarios, known as the out-of-distribution (OOD) issue. Training-free
Tertiary structure-based RNA design aims to generate RNA sequences that can fold into desired 3D structures, but remains a challenging problem due to the scarcity of annotated data, structural noise, and the intrinsic complexity of RNA topology. Existing structure-to-sequence frameworks largely rely…
Large Language Models (LLMs) exhibit remarkable capabilities in the hierarchical decomposition of complex tasks through semantic reasoning. However, their application in embodied systems faces challenges in ensuring reliable execution of subtask sequences and achieving one-shot success in long-term
In motion planning with partial observability, addressing uncertainty is crucial for preventing collisions and congestion, especially in the vicinity of constrained narrow areas connecting wider spaces, called hallways. In this work, we propose a cooperative motion planning algorithm that leverages
In autonomous driving, vision-centric 3D detection aims to identify 3D objects from images. However, high data collection costs and diverse real-world scenarios limit the scale of training data. Once distribution shifts occur between training and test data, existing methods often suffer from perform…
Driven by the great success of Large Language Models (LLMs) in the 2D image domain, their applications in 3D scene understanding has emerged as a new trend. A key difference between 3D and 2D is that the situation of an egocentric observer in 3D scenes can change, resulting in different descriptions…
3D Gaussian Splatting (3DGS) has gained significant attention for its real-time, photo-realistic rendering in novel-view synthesis and 3D modeling. However, existing methods struggle with accurately modeling scenes affected by transient objects, leading to artifacts in the rendered images. We identi…
Sparse Perception Models (SPMs) adopt a query-driven paradigm that forgoes explicit dense BEV or volumetric construction, enabling highly efficient computation and accelerated inference. In this paper, we introduce SQS, a novel query-based splatting pre-training specifically designed to advance SPMs…
We propose a continuous gathering scheme based on the swept volume to address the challenges involved in planning a tethered robot duo to efficiently collect marine debris. Specifically, we model the tethered robot duo by constructing a double-layer U-shape, and then apply an object-aware optimizati
This paper introduces VisionPAD, a novel self-supervised pre-training paradigm designed for vision-centric algorithms in autonomous driving. In contrast to previous approaches that employ neural rendering with explicit depth supervision, VisionPAD utilizes more efficient 3D Gaussian Splatting to rec…
We present a neural radiance field method for urban-scale semantic and building-level instance segmentation from aerial images by lifting noisy 2D labels to 3D. This is a challenging problem due to two primary reasons. Firstly objects in urban aerial images exhibit substantial variations in size inc…
Conventional data compression methods typically model the information source as an i.i.d. stochastic process, thereby establishing the fundamental limit as entropy for lossless compression and as mutual information for lossy compression. However, the source in the real world (e.g., text, music, and…
Accurate 3D lane estimation is crucial for ensuring safety in autonomous driving. However, prevailing monocular techniques suffer from depth loss and lighting variations, hampering accurate 3D lane detection. In contrast, LiDAR points offer geometric cues and enable precise localization. In this pap…
"Text-to-3D generation has recently seen significant progress. To enhance its practicality in real-world applications, it is crucial to generate multiple independent objects with interactions, similar to layer-compositing in 2D image editing. However, existing text-to-3D methods struggle with this t…
Generalizable 3D object reconstruction from single-view RGB-D images remains a challenging task particularly with real-world data. Current state-of-the-art methods develop Transformer-based implicit field learning necessitating an intensive learning paradigm that requires dense query-supervision uni…
Unmanned Aerial Vehicle (UAV)-mounted edge devices are particularly advantageous for federated edge learning (FEEL) due to their flexibility and mobility in efficient data collection. In UAV-assisted FEEL, sensing, computation, and communication are coupled and compete for limited onboard resources,…
In this era the success of large language models and text-to-image models can be attributed to the driving force of large-scale datasets. However in the realm of 3D vision while remarkable progress has been made with models trained on large-scale synthetic and real-captured object data like Objavers…
"Monocular 3D object detection (Mono 3Det) aims to identify 3D objects from a single RGB image. However, existing methods often assume training and test data follow the same distribution, which may not hold in real-world test scenarios. To address the out-of-distribution (OOD) problems, we explore a…
3D occupancy prediction is an emerging task that aims to estimate the occupancy states and semantics of 3D scenes using multi-view images. However, image-based scene perception encounters significant challenges in achieving accurate prediction due to the absence of geometric priors. In this paper, w…
Federated unlearning has emerged as a promising paradigm to erase the client-level data effect without affecting the performance of collaborative learning models. However, the federated unlearning process often introduces extensive storage overhead and consumes substantial computational resources, t…
While 3D object bounding box (bbox) representation has been widely used in autonomous driving perception, it lacks the ability to capture the precise details of an object's intrinsic geometry. Recently, occupancy has emerged as a promising alternative for 3D scene perception. However, constructing a…
The vast applications of deep generative models are anchored in three core capabilities---*generating* new instances, *reconstructing* inputs, and learning compact *representations*---across various data types, such as discrete text/protein sequences and continuous images. Existing model families, l…
3D Visual Grounding (3DVG) aims at localizing 3D object based on textual descriptions. Conventional supervised methods for 3DVG often necessitate extensive annotations and a predefined vocabulary which can be restrictive. To address this issue we propose a novel visual programming approach for zero-…
Point cloud salient object detection (PCSOD) is a newly proposed task in 3D dense segmentation. However, the acquisition of accurate 3D dense annotations comes at a high cost, severely limiting the progress of PCSOD. To address this issue, we propose the first weakly supervised PCSOD (named WeakPCSO…
High-quality data is essential for conversational recommendation systems and serves as the cornerstone of the network architecture development and training strategy design. Existing works contribute heavy human efforts to manually labeling or designing and extending recommender dialogue templates. H…
Depth completion plays a crucial role in autonomous driving, in which cameras and LiDARs are two complementary sensors. Recent approaches attempt to exploit spatial geometric constraints hidden in LiDARs to enhance image-guided depth completion. However, only low efficiency and poor generalization c…
Recent work on Neural Radiance Fields (NeRF) has demonstrated significant advances in high-quality view synthesis. A major limitation of NeRF is its low rendering efficiency due to the need for multiple network forwardings to render a single pixel. Existing methods to improve NeRF either reduce the…
Measuring and alleviating the discrepancies between the synthetic (source) and real scene (target) data is the core issue for domain adaptive semantic segmentation. Though recent works have introduced depth information in the source domain to reinforce the geometric and semantic knowledge transfer,…
Fast generation of high-quality 3D digital humans is important to a vast number of applications ranging from entertainment to professional concerns. Recent advances in differentiable rendering have enabled the training of 3D generative models without requiring 3D ground truths. However, the quality…
State-of-the-art multi-agent collision avoidance algorithms face limitations when applied to cluttered public environments, where obstacles may have a variety of shapes and structures. The issue arises because most of these algorithms are agent-level methods. They concentrate solely on preventing co…
In this work, we tackle the challenging problem of learning-based single-view 3D hair modeling. Due to the great difficulty of collecting paired real image and 3D hair data, using synthetic data to provide prior knowledge for real domain becomes a leading solution. This unfortunately introduces the…
3D lane detection from monocular images is a fundamental yet challenging task in autonomous driving. Recent advances primarily rely on structural 3D surrogates (e.g., bird's eye view) built from front-view image features and camera parameters. However, the depth ambiguity in monocular images inevita…
The mainstream of the existing approaches for video prediction builds up their models based on a Single-In-Single-Out (SISO) architecture, which takes the current frame as input to predict the next frame in a recursive manner. This way often leads to severe performance degradation when they try to e…
Being data-driven is one of the most iconic properties of deep learning algorithms. The birth of ImageNet drives a remarkable trend of "learning from large-scale data" in computer vision. Pretraining on ImageNet to obtain rich universal representations has been manifested to benefit various 2D visua…
Dialogue state tracking (DST) aims to convert the dialogue history into dialogue states which consist of slot-value pairs. As condensed structural information memorizes all history information, the dialogue state in the previous turn is typically adopted as the input for predicting the current state…
Gaussian process state-space model (GPSSM) is a fully probabilistic state-space model that has attracted much attention over the past decade. However, the outputs of the transition function in the existing GPSSMs are assumed to be independent, meaning that the GPSSMs cannot exploit the inductive bia…
3D shape completion from point clouds is a challenging task, especially from scans of real-world objects. Considering the paucity of 3D shape ground truths for real scans, existing works mainly focus on benchmarking this task on synthetic data, e.g. 3D computer-aided design models. However, the doma…
"As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require paired data, i.e., LiDAR point clouds and camera images wit…
3D single object tracking (3D SOT) in LiDAR point clouds plays a crucial role in autonomous driving. Current approaches all follow the Siamese paradigm based on appearance matching. However, LiDAR point clouds are usually textureless and incomplete, which hinders effective appearance matching. Besid…
Accurate protein contact map prediction (PCMP) is essential for precise protein structure estimation and further biological studies. Recent works achieve significant performance on this task with high quality multiple sequence alignment (MSA). However, the PCMP accuracy drops dramatically while only…
Automatic tooth instance segmentation on 3D dental models is a fundamental task for computer-aided orthodontic treatments. Existing learning-based methods rely heavily on expensive point-wise annotations. To alleviate this problem, we are the first to explore a low-cost annotation way for 3D tooth i…
Neural text generation models are typically trained by maximizing log-likelihood with the sequence cross entropy (CE) loss, which encourages an exact token-by-token match between a target sequence with a generated sequence. Such training objective is sub-optimal when the target sequence is not perfe…
Waste inspection for packaged waste is an important step in the pipeline of waste disposal. Previous methods either rely on manual visual checking or RGB image-based inspection algorithm, requiring costly preparation procedures (e.g., open the bag and spread the waste items). Moreover, occluded item…
Although recent point cloud analysis achieves impressive progress, the paradigm of representation learning from single modality gradually meets its bottleneck. In this work, we take a step towards more discriminative 3D point cloud representation using 2D images, which inherently contain richer appe…
Semi-supervised domain adaptation (SSDA) aims to apply knowledge learned from a fully labeled source domain to a scarcely labeled target domain. In this paper, we propose a Multi-level Consistency Learning (MCL) framework for SSDA. Specifically, our MCL regularizes the consistency of different views…
Multitask Gaussian process (MTGP) is powerful for joint learning of multiple tasks with complicated correlation patterns. However, due to the assembling of additive independent latent functions (LFs), all current MTGPs including the salient linear model of coregionalization (LMC) and convolution fra…
"We present a new framework to reconstruct holistic 3D indoor scenes including both room background and indoor objects from single-view images. Existing methods can only produce 3D shapes of indoor objects with limited geometry quality because of the heavy occlusion of indoor scenes. To solve this,…
"Weakly supervised object localization (WSOL) aims at detecting objects through only image-level labels. Class activation maps (CAMs) are the commonly used features for WSOL. However, existing CAM-based methods tend to excessively pursue discriminative features for object recognition and hence ignor…
3D dense captioning aims to describe individual objects by natural language in 3D scenes, where 3D scenes are usually represented as RGB-D scans or point clouds. However, only exploiting single modal information, e.g., point cloud, previous approaches fail to produce faithful descriptions. Though ag…
Protein secondary structure prediction (PSSP) is essential for protein function analysis. However, for low homologous proteins, the PSSP suffers from insufficient input features. In this paper, we explicitly import external self-supervised knowledge for low homologous PSSP under the guidance of resi…
Current 3D single object tracking approaches track the target based on a feature comparison between the target template and the search area. However, due to the common occlusion in LiDAR scans, it is non-trivial to conduct accurate feature comparisons on severe sparse and incomplete shapes. In this…
This paper investigates the deployment of federated learning (FL) over an over-the-air computation (AirComp) and intelligent reflecting surface (IRS) based wireless network. In the considered system, devices transmit locally trained machine learning (ML) models to the base station (BS) which aggrega…
Compared with the visual grounding on 2D images, the natural-language-guided 3D object localization on point clouds is more challenging. In this paper, we propose a new model, named InstanceRefer, to achieve a superior 3D visual grounding through the grounding-by-matching strategy. In practice, our…
The key point of language-guided person search is to construct the cross-modal association between visual and textual input. Existing methods focus on designing multimodal attention mechanisms and novel cross-modal loss functions to learn such association implicitly. We propose a representation lear…
In this paper, layered min-sum (MS) iterative decoding is formulated as a customized neural network following the sequential scheduling of check node (CN) updates. By virtue of the lifting structure of protograph low-density parity-check (LDPC) codes, identical network parameters are shared among al…
Protein secondary structure prediction (PSSP) is an essential task in computational biology. To achieve the accurate PSSP, the general and vital feature engineering is to use multiple sequence alignment (MSA) for Position-Specific Scoring Matrix (PSSM) extraction. However, when only low-quality PSSM…
Point Cloud Sampling and Recovery (PCSR) is critical for massive real-time point cloud collection and processing since raw data usually requires large storage and computation. This paper addresses a fundamental problem in PCSR: How to downsample the dense point cloud with arbitrary scales while pres…
Grounding referring expressions in RGBD image has been an emerging field. We present a novel task of 3D visual grounding in single-view RGBD image where the referred objects are often only partially scanned due to occlusion. In contrast to previous works that directly generate object proposals for g…
Weakly supervised object localization (WSOL) aims to localize objects by only utilizing image-level labels. Class activation maps (CAMs) are the commonly used features to achieve WSOL. However, previous CAM-based methods did not take full advantage of the shallow features, despite their importance f…
LiDAR point cloud analysis is a core task for 3D computer vision, especially for autonomous driving. However, due to the severe sparsity and noise interference in the single sweep LiDAR point cloud, the accurate semantic segmentation is non-trivial to achieve. In this paper, we propose a novel spars…
We propose a novel Gaussian process kernel that takes advantage of a deep neural network (DNN) structure but retains good interpretability. The resulting kernel is capable of addressing four major issues of the previous works of similar art, i.e., the optimality, explainability, model complexity, an…
High-fidelity clothing reconstruction is the key to achieving photorealism in a wide range of applications including human digitization, virtual try-on, etc. Recent advances in learning-based approaches have accomplished unprecedented accuracy in recovering unclothed human shape and pose from single…
We introduce FPConv, a novel surface-style convolution operator designed for 3D point cloud analysis. Unlike previous methods, FPConv doesn't require transforming to intermediate representation like 3D grid or graph and directly works on surface geometry of point cloud. To be more specific, for each…
Traditional deep learning models are trained on centralized servers using labeled sample data collected from edge devices. This data often includes private information, which the users may not be willing to share. Federated learning (FL) is an emerging approach to train such learning models without…
Although occlusion widely exists in nature and remains a fundamental challenge for pose estimation, existing heatmap-based approaches suffer serious degradation on occlusions. Their intrinsic problem is that they directly localize the joints based on visual information; however, the invisible joints…
Raw point clouds data inevitably contains outliers or noise through acquisition from 3D sensors or reconstruction algorithms. In this paper, we present a novel end-to-end network for robust point clouds processing, named PointASNL, which can deal with point clouds with noise effectively. The key com…
Point completion refers to complete the missing geometries of objects from partial point clouds. Existing works usually estimate the missing shape by decoding a latent feature encoded from the input points. However, real-world objects are usually with diverse topologies and surface details, which a…
Recovering realistic textures from a largely down-sampled low resolution (LR) image with complicated patterns is a challenging problem in image super-resolution. This work investigates a novel multi-reference based super-resolution problem by proposing a Content Independent Multi-Reference Super-Res…
We present a deep reinforcement learning method of progressive view inpainting for 3D point scene completion under volume guidance, achieving high-quality scene reconstruction from only a single depth image with severe occlusion. Our approach is end-to-end, consisting of three modules: 3D scene volu…
In this paper, we investigate the adversarial robustness of subspace learning problems. Different from the scenario addressed by classic robust algorithms that assume fractions of data are corrupted, we consider a more powerful adversary who can observe the whole data and modify all of them. The goa…
Gaussian process (GP) for machine learning has been well studied over the past two decades and is now widely used in many sectors. However, the design of low-complexity GP models still remains a challenging research problem. In this paper, we propose a novel scalable GP regression model for processi…
We investigate a nonparametric hypothesis testing problem, in which we assume a testing data stream is generated by one of a set of distributions (hypotheses), and the goal is to test which one of the multiple distributions generates the testing data stream, i.e., which hypothesis occurs. We assume…
Similarity search is a fundamental problem in computing science with various applications and has attracted significant research attention, especially in large-scale search with high dimensions. Motivated by the evidence in biological science, our work develops a novel approach for similarity search…
In a social network, influence maximization is the problem of identifying a set of users that own the maximum influence ability across the network. In this paper, a novel credit distribution (CD) based model, termed as the multi-action CD (mCD) model, is introduced to quantify the influence ability…
In distributed inference, cooperation among networked agents can be exploited to enhance the performance of each individual agent. In this paper, we consider signal classification over a network of agents, where each agent observes a certain signal under a particular signal-to-noise ratio (SNR). Eac…
This paper studies a Quantized Gossip-based Interactive Kalman Filtering (QGIKF) algorithm implemented in a wireless sensor network, where the sensors exchange their quantized states with neighbors via inter-sensor communications. We show that with the information loss due to quantization, the netwo…