77 citations · 186 across the 13 of their papers we have counts for
5 papers · 1 filter
PartSLIP: Low-Shot Part Segmentation for 3D Point Clouds via Pretrained Image-Language Models
Minghua Liu, Yinhao Zhu, Hong Cai +4
Generalizable 3D part segmentation is important but challenging in vision and robotics. Training deep models via conventional supervised methods requires large-scale 3D datasets wi…
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…
Improving Policy Optimization with Generalist-Specialist Learning
Zhiwei Jia, Xuanlin Li, Zhan Ling +3
Generalization in deep reinforcement learning over unseen environment variations usually requires policy learning over a large set of diverse training variations. We empirically ob…
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…
Close the Optical Sensing Domain Gap by Physics-Grounded Active Stereo Sensor Simulation
Xiaoshuai Zhang, Rui Chen, Ang Li +11
In this paper, we focus on the simulation of active stereovision depth sensors, which are popular in both academic and industry communities. Inspired by the underlying mechanism of…