77 citations · 114 across the 6 of their papers we have counts for
8 papers
LESS: Label-Efficient Semantic Segmentation for LiDAR Point Clouds
Minghua Liu, Yin Zhou, Charles R. Qi +3
Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets wh…
Frame Mining: a Free Lunch for Learning Robotic Manipulation from 3D Point Clouds
Minghua Liu, Xuanlin Li, Zhan Ling +2
We study how choices of input point cloud coordinate frames impact learning of manipulation skills from 3D point clouds. There exist a variety of coordinate frame choices to normal…
Approximate Convex Decomposition for 3D Meshes with Collision-Aware Concavity and Tree Search
Xinyue Wei, Minghua Liu, Zhan Ling +1
Approximate convex decomposition aims to decompose a 3D shape into a set of almost convex components, whose convex hulls can then be used to represent the input shape. It thus enab…
DeepMetaHandles: Learning Deformation Meta-Handles of 3D Meshes with Biharmonic Coordinates
Minghua Liu, Minhyuk Sung, Radomir Mech +1
We propose DeepMetaHandles, a 3D conditional generative model based on mesh deformation. Given a collection of 3D meshes of a category and their deformation handles (control points…
Meshing Point Clouds with Predicted Intrinsic-Extrinsic Ratio Guidance
Minghua Liu, Xiaoshuai Zhang, Hao Su
We are interested in reconstructing the mesh representation of object surfaces from point clouds. Surface reconstruction is a prerequisite for downstream applications such as rende…
SAPIEN: A SimulAted Part-based Interactive ENvironment
Fanbo Xiang, Yuzhe Qin, Kaichun Mo +11
Building home assistant robots has long been a pursuit for vision and robotics researchers. To achieve this task, a simulated environment with physically realistic simulation, suff…