4 papers
UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception
Ziming Wang
We present UMI-3D, a multimodal extension of the Universal Manipulation Interface (UMI) for robust and scalable data collection in embodied manipulation. While UMI enables portable…
Equivariant Flow Matching for Point Cloud Assembly
Ziming Wang, Nan Xue, Rebecka Jörnsten
The goal of point cloud assembly is to reconstruct a complete 3D shape by aligning multiple point cloud pieces. This work presents a novel equivariant solver for assembly tasks bas…
Theoretical Performance Guarantees for Partial Domain Adaptation via Partial Optimal Transport
Jayadev Naram, Fredrik Hellström, Ziming Wang +2
In many scenarios of practical interest, labeled data from a target distribution are scarce while labeled data from a related source distribution are abundant. One particular setti…
SE(3)-bi-equivariant Transformers for Point Cloud Assembly
Ziming Wang, Rebecka Jörnsten
Given a pair of point clouds, the goal of assembly is to recover a rigid transformation that aligns one point cloud to the other. This task is challenging because the point clouds…