4 papers
Rethinking 3D Shape Generation: Diffusion over Superquadrics
Zhiyang Liu, Wanze Li, Yuwei Wu +4
Diffusion models have advanced 3D shape generation, yet most methods still denoise in high-cardinality spaces (e.g., voxel/SDF grids, meshes, or point clouds), which is computation…
NTR: Neural Token Reconstruction for Scene Token Bottleneck in End-to-End Driving
Jiahui Li, Jiawei Sun, Zixiang Ren +7
Recent perception-free end-to-end (E2E) autonomous driving methods bypass explicit perception outputs by compressing dense image patch tokens into compact scene tokens for downstre…
3D Affordance Keypoint Detection for Robotic Manipulation
Zhiyang Liu, Ruiteng Zhao, Lei Zhou +6
This paper presents a novel approach for affordance-informed robotic manipulation by introducing 3D keypoints to enhance the understanding of object parts' functionality. The propo…
DexGrasp-Diffusion: Diffusion-based Unified Functional Grasp Synthesis Method for Multi-Dexterous Robotic Hands
Zhengshen Zhang, Lei Zhou, Chenchen Liu +6
The versatility and adaptability of human grasping catalyze advancing dexterous robotic manipulation. While significant strides have been made in dexterous grasp generation, curren…