6 papers
PointNet4D: A Lightweight 4D Point Cloud Video Backbone for Online and Offline Perception in Robotic Applications
Yunze Liu, Zifan Wang, Peiran Wu +1
Understanding dynamic 4D environments-3D space evolving over time-is critical for robotic and interactive systems. These applications demand systems that can process streaming poin…
MutualNeRF: Improve the Performance of NeRF under Limited Samples with Mutual Information Theory
Zifan Wang, Jingwei Li, Yitang Li +1
This paper introduces MutualNeRF, a framework enhancing Neural Radiance Field (NeRF) performance under limited samples using Mutual Information Theory. While NeRF excels in 3D scen…
MobileH2R: Learning Generalizable Human to Mobile Robot Handover Exclusively from Scalable and Diverse Synthetic Data
Zifan Wang, Ziqing Chen, Junyu Chen +6
This paper introduces MobileH2R, a framework for learning generalizable vision-based human-to-mobile-robot (H2MR) handover skills. Unlike traditional fixed-base handovers, this tas…
CrossVideo: Self-supervised Cross-modal Contrastive Learning for Point Cloud Video Understanding
Yunze Liu, Changxi Chen, Zifan Wang +1
This paper introduces a novel approach named CrossVideo, which aims to enhance self-supervised cross-modal contrastive learning in the field of point cloud video understanding. Tra…
GenH2R: Learning Generalizable Human-to-Robot Handover via Scalable Simulation, Demonstration, and Imitation
Zifan Wang, Junyu Chen, Ziqing Chen +3
This paper presents GenH2R, a framework for learning generalizable vision-based human-to-robot (H2R) handover skills. The goal is to equip robots with the ability to reliably recei…
Semantic Complete Scene Forecasting from a 4D Dynamic Point Cloud Sequence
Zifan Wang, Zhuorui Ye, Haoran Wu +2
We study a new problem of semantic complete scene forecasting (SCSF) in this work. Given a 4D dynamic point cloud sequence, our goal is to forecast the complete scene corresponding…