4 papers
Does Latent Planning Survive Point Clouds? Action-Conditioned JEPA World Models for Geometric Observations and Goals
Fabio F. Oberweger, Michael Schwingshackl, Markus Murschitz
Latent action world models let agents plan new behaviors at test time by predicting how actions change the environment, and joint-embedding predictive architectures (JEPAs) do so b…
PIRATR: Parametric Object Inference for Robotic Applications with Transformers in 3D Point Clouds
Michael Schwingshackl, Fabio F. Oberweger, Mario Niedermeyer +2
We present PIRATR, an end-to-end 3D object detection framework for robotic use cases in point clouds. Extending PI3DETR, our method streamlines parametric 3D object detection by jo…
PI3DETR: Parametric Instance Detection of 3D Point Cloud Edges With a Geometry-Aware 3DETR
Fabio F. Oberweger, Michael Schwingshackl, Vanessa Staderini
We present PI3DETR, an end-to-end framework that directly predicts 3D parametric curve instances from raw point clouds, avoiding the intermediate representations and multi-stage pr…
Few-shot Structure-Informed Machinery Part Segmentation with Foundation Models and Graph Neural Networks
Michael Schwingshackl, Fabio Francisco Oberweger, Markus Murschitz
This paper proposes a novel approach to few-shot semantic segmentation for machinery with multiple parts that exhibit spatial and hierarchical relationships. Our method integrates…