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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
Meta-Sampler: Almost-Universal yet Task-Oriented Sampling...
Ta-Ying Cheng, Qingyong Hu, Qian Xie, Niki Trigoni, Andrew Markh · 2022-03-30 · via cs.RO updates on arXiv.org

Sampling is a key operation in point-cloud task and acts to increase computational efficiency and tractability by discarding redundant points. Universal sampling algorithms (e.g., Farthest Point Sampling) work without modification across different tasks, models, and datasets, but by their very nature are agnostic about the downstream task/model. As such, they have no implicit knowledge about which points would be best to keep and which to reject. Recent work has shown how task-specific point cloud sampling (e.g., SampleNet) can be used to outperform traditional sampling approaches by learning which points are more informative. However, these learnable samplers face two inherent issues: i) overfitting to a model rather than a task, and \ii) requiring training of the sampling network from scratch, in addition to the task network, somewhat countering the original objective of down-sampling to increase efficiency. In this work, we propose an almost-universal sampler, in our quest for a sampler that can learn to preserve the most useful points for a particular task, yet be inexpensive to adapt to different tasks, models, or datasets. We first demonstrate how training over multiple models for the same task (e.g., shape reconstruction) significantly outperforms the vanilla SampleNet in terms of accuracy by not overfitting the sample network to a particular task network. Second, we show how we can train an almost-universal meta-sampler across multiple tasks. This meta-sampler can then be rapidly fine-tuned when applied to different datasets, networks, or even different tasks, thus amortizing the initial cost of training.