23 accepted papers
We present LumiX, a structured diffusion framework for coherent text-to-intrinsic generation. Conditioned on text prompts, LumiX jointly generates a comprehensive set of intrinsic maps (e.g., albedo, irradiance, normal, depth, and final color), providing a structured and physically consistent descri
Generating 3D meshes from a single image is an important but ill-posed task. Existing methods mainly adopt 2D multiview diffusion models to generate intermediate multiview images, and use the Large Reconstruction Model (LRM) to create the final meshes. However, the multiview images exhibit local inc…
We introduce Monarch Sparse Tuning (MoST), the first reparameterization-based parameter-efficient fine-tuning (PEFT) method tailored for 3D representation learning. Unlike existing adapter-based and prompt-tuning 3D PEFT methods, MoST introduces no additional inference overhead and is compatible wit…
Enabling Large Language Models (LLMs) to comprehend the 3D physical world remains a significant challenge. Due to the lack of large-scale 3D-text pair datasets, the success of LLMs has yet to be replicated in 3D understanding. In this paper, we rethink this issue and propose a new task: 3D Data-Effi…
Recent advancements in deep learning have greatly enhanced 3D object recognition, but most models are limited to closed-set scenarios, unable to handle unknown samples in real-world applications. Open-set recognition (OSR) addresses this limitation by enabling models to both classify known classes a…
Language models are capable of memorizing detailed patterns and information, leading to a double-edged effect: they achieve impressive modeling performance on downstream tasks with the stored knowledge but also raise significant privacy concerns. Traditional differential privacy based training appro…
Existing point cloud semantic segmentation networks cannot identify unknown classes and update their knowledge due to a closed-set and static perspective of the real world which would induce the intelligent agent to make bad decisions. To address this problem we propose a Probability-Driven Framewor…
Monocular 3D object detection is a low-cost but challenging task, as it requires generating accurate 3D localization solely from a single image input. Recent developed depth-assisted methods show promising results by using explicit depth maps as intermediate features, which are either precomputed by…
Semantic scene completion (SSC) aims to complete a partial 3D scene and predict its semantics simultaneously. Most existing works adopt the voxel representations, thus suffering from the growth of memory and computation cost as the voxel resolution increases. Though a few works attempt to solve SSC…
Masked Autoencoders (MAE) have shown promising performance in self-supervised learning for both 2D and 3D computer vision. However, existing MAE-style methods can only learn from the data of a single modality, i.e., either images or point clouds, which neglect the implicit semantic and geometric cor…
Instance segmentation is a long-standing task for supporting robotic bin picking. However, objects of diverse classes can be closely packed with occlusions in cluttered and chaotic scenes, hence, even recent methods could have difficulty in locating clear and precise boundaries to distinguish nearby…
Knowledge base question answering (KBQA) is a challenging task that aims to retrieve correct answers from large-scale knowledge bases. Existing attempts primarily focus on entity representation and final answer reasoning, which results in limited supervision for this task. Moreover, the relations, w…
Few-Shot 3D Point Cloud Object Detection (FS3D) is a challenging task, aiming to detect 3D objects of novel classes using only limited annotated samples for training. Considering that the detection performance highly relies on the quality of the latent features, we design a VAE-based prototype learn…
We present a generic and robust sim-to-real deep-learning-based framework, namely S2R-Pick, for fast and accurate object recognition and localization in industrial robotic bin picking. Unlike existing works designed for general everyday environments, objects for industrial bin picking are often text
Sign language recognition and translation first uses a recognition module to generate glosses from sign language videos and then employs a translation module to translate glosses into spoken sentences. Most existing works focus on the recognition step, while paying less attention to sign language tr…
Instance segmentation is an important task for supporting robotic grasping in auto-store scenarios. Accurate segmentation usually relies on the quantity and quality of available annotated training data. However, it requires tremendous cost to obtain these labels. In this work, without requiring any…
Industrial bin picking is a challenging task that requires accurate and robust segmentation of individual object instances. Particularly, industrial objects can have irregular shapes, that is, thin and concave, whereas in bin-picking scenarios, objects are often closely packed with strong occlusion.…
Point clouds produced by 3D scanning are often sparse, non-uniform, and noisy. Recent upsampling approaches aim to generate a dense point set, while achieving both distribution uniformity and proximity-to-surface, and possibly amending small holes, all in a single network. After revisiting the task,…
We present PointAugment, a new auto-augmentation framework that automatically optimizes and augments point cloud samples to enrich the data diversity when we train a classification network. Different from existing auto-augmentation methods for 2D images, PointAugment is sample-aware and takes an adv…
This paper presents a new approach to recognize elements in floor plan layouts. Besides walls and rooms, we aim to recognize diverse floor plan elements, such as doors, windows and different types of rooms, in the floor layouts. To this end, we model a hierarchy of floor plan elements and design a d…
Point clouds acquired from range scans are often sparse, noisy, and non-uniform. This paper presents a new point cloud upsampling network called PU-GAN, which is formulated based on a generative adversarial network (GAN), to learn a rich variety of point distributions from the latent space and upsam…
Point clouds obtained from 3D scans are typically sparse, irregular, and noisy, and required to be consolidated. In this paper, we present the first deep learning based {em edge-aware} technique to facilitate the consolidation of point clouds. We design our network to process points grouped in local…
Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level features per point and expand the point set via a multi-branch c…