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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Point Tree Transformer for Point Cloud Registration
Meiling Wang, Guangyan Chen, Yi Yang, Li Yuan, Yufeng Yue · 2024-06-25 · via cs.RO updates on arXiv.org

Point cloud registration is a fundamental task in the fields of computer vision and robotics. Recent developments in transformer-based methods have demonstrated enhanced performance in this domain. However, the standard attention mechanism utilized in these methods often integrates many low-relevance points, thereby struggling to prioritize its attention weights on sparse yet meaningful points. This inefficiency leads to limited local structure modeling capabilities and quadratic computational complexity. To overcome these limitations, we propose the Point Tree Transformer (PTT), a novel transformer-based approach for point cloud registration that efficiently extracts comprehensive local and global features while maintaining linear computational complexity. The PTT constructs hierarchical feature trees from point clouds in a coarse-to-dense manner, and introduces a novel Point Tree Attention (PTA) mechanism, which follows the tree structure to facilitate the progressive convergence of attended regions towards salient points. Specifically, each tree layer selectively identifies a subset of key points with the highest attention scores. Subsequent layers focus attention on areas of significant relevance, derived from the child points of the selected point set. The feature extraction process additionally incorporates coarse point features that capture high-level semantic information, thus facilitating local structure modeling and the progressive integration of multiscale information. Consequently, PTA empowers the model to concentrate on crucial local structures and derive detailed local information while maintaining linear computational complexity. Extensive experiments conducted on the 3DMatch, ModelNet40, and KITTI datasets demonstrate that our method achieves superior performance over the state-of-the-art methods.