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Point Cloud Matters: Rethinking the Impact of Different Observation Spaces on Robot Learning
4 February 2024
Haoyi Zhu
Yating Wang
Di Huang
Weicai Ye
Wanli Ouyang
Tong He
SSL
3DPC
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Papers citing
"Point Cloud Matters: Rethinking the Impact of Different Observation Spaces on Robot Learning"
33 / 33 papers shown
PointCNN++: Performant Convolution on Native Points
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FLaTEC: Frequency-Disentangled Latent Triplanes for Efficient Compression of LiDAR Point Clouds
Xiaoge Zhang
Zijie Wu
Mingtao Feng
Zichen Geng
Mehwish Nasim
Saeed Anwar
Ajmal Mian
214
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Learning Spatial-Aware Manipulation Ordering
Yuxiang Yan
Zhiyuan Zhou
Xin Gao
Guanghao Li
Shenglin Li
Jiaqi Chen
Qunyan Pu
Jian Pu
198
2
0
29 Oct 2025
The Reality Gap in Robotics: Challenges, Solutions, and Best Practices
Elie Aljalbout
Jiaxu Xing
Angel Romero
Iretiayo Akinola
Caelan Reed Garrett
...
Tucker Hermans
Yashraj S. Narang
Dieter Fox
Davide Scaramuzza
F. Ramos
AI4CE
225
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0
23 Oct 2025
PointMapPolicy: Structured Point Cloud Processing for Multi-Modal Imitation Learning
Xiaogang Jia
Qian Wang
Anrui Wang
Han A. Wang
B. Gyenes
...
Xi Huang
Maximilian Beck
Moritz Reuss
Rudolf Lioutikov
Gerhard Neumann
3DPC
323
5
0
23 Oct 2025
GP3: A 3D Geometry-Aware Policy with Multi-View Images for Robotic Manipulation
Quanhao Qian
Guoyang Zhao
Gongjie Zhang
Jiuniu Wang
Ran Xu
Junlong Gao
Deli Zhao
179
6
0
19 Sep 2025
ManiVID-3D: Generalizable View-Invariant Reinforcement Learning for Robotic Manipulation via Disentangled 3D Representations
Zheng Li
Pei Qu
Ruixiang Wang
Shihui Zhou
Haizhou Ge
Jiahang Cao
Jinni Zhou
Longhua Ma
Jun Ma
184
5
0
14 Sep 2025
Manipulation as in Simulation: Enabling Accurate Geometry Perception in Robots
Minghuan Liu
Zhengbang Zhu
Xiaoshen Han
Peng Hu
Haotong Lin
...
Xinghang Li
Yong Yu
Weinan Zhang
Tao Kong
Bingyi Kang
198
8
0
02 Sep 2025
GWM: Towards Scalable Gaussian World Models for Robotic Manipulation
Guanxing Lu
Baoxiong Jia
Puhao Li
Yixin Chen
Ziwei Wang
Yansong Tang
Siyuan Huang
3DGS
311
17
0
25 Aug 2025
PinchBot: Long-Horizon Deformable Manipulation with Guided Diffusion Policy
Alison Bartsch
Arvind Car
A. Farimani
VGen
261
2
0
23 Jul 2025
π
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3
: Permutation-Equivariant Visual Geometry Learning
Yifan Wang
Jianjun Zhou
Haoyi Zhu
Wenzheng Chang
Y. Zhou
Zizun Li
Junyi Chen
Jiangmiao Pang
Chunhua Shen
Tong He
MDE
287
104
0
17 Jul 2025
DreamCube: 3D Panorama Generation via Multi-plane Synchronization
Yukun Huang
Yanning Zhou
Jianan Wang
Kaiyi Huang
Xihui Liu
212
11
0
20 Jun 2025
EmbodiedMAE: A Unified 3D Multi-Modal Representation for Robot Manipulation
Zibin Dong
Fei Ni
Yifu Yuan
Yinchuan Li
Jianye Hao
414
4
0
15 May 2025
H
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3
DP: Triply-Hierarchical Diffusion Policy for Visuomotor Learning
Yiyang Lu
Yufeng Tian
Zhecheng Yuan
Xinyu Wang
Pu Hua
Zhengrong Xue
Huazhe Xu
441
8
0
12 May 2025
SuFIA-BC: Generating High Quality Demonstration Data for Visuomotor Policy Learning in Surgical Subtasks
IEEE International Conference on Robotics and Automation (ICRA), 2025
Masoud Moghani
Nigel Nelson
Mohamed Ghanem
Andres Diaz-Pinto
Kush Hari
Mahdi Azizian
Ken Goldberg
Sean Huver
Animesh Garg
220
6
0
21 Apr 2025
Aether: Geometric-Aware Unified World Modeling
Aether Team
Haoyi Zhu
Yanjie Wang
Jianjun Zhou
Wenzheng Chang
...
Zizun Li
Junyi Chen
Chunhua Shen
Jiangmiao Pang
Tong He
DiffM
VGen
569
72
0
24 Mar 2025
MoST: Efficient Monarch Sparse Tuning for 3D Representation Learning
Computer Vision and Pattern Recognition (CVPR), 2025
Xu Han
Yuan Tang
Jinfeng Xu
Xianzhi Li
235
3
0
24 Mar 2025
FP3: A 3D Foundation Policy for Robotic Manipulation
Rujia Yang
Geng Chen
Chuan Wen
Yang Gao
LM&Ro
342
29
0
11 Mar 2025
FunGraph: Functionality Aware 3D Scene Graphs for Language-Prompted Scene Interaction
Dennis Rotondi
Fabio Scaparro
Hermann Blum
Kai O. Arras
357
10
0
10 Mar 2025
RGBSQGrasp: Inferring Local Superquadric Primitives from Single RGB Image for Graspability-Aware Bin Picking
Yifeng Xu
Fan Zhu
Ye Li
Sebastian Ren
Xiaonan Huang
Yuhao Chen
507
1
0
04 Mar 2025
DDEQs: Distributional Deep Equilibrium Models through Wasserstein Gradient Flows
International Conference on Artificial Intelligence and Statistics (AISTATS), 2025
Jonathan Geuter
Clément Bonet
Anna Korba
David Alvarez-Melis
524
3
0
03 Mar 2025
DemoGen: Synthetic Demonstration Generation for Data-Efficient Visuomotor Policy Learning
Zhengrong Xue
Shuying Deng
Zhenyang Chen
Yixuan Wang
Zhecheng Yuan
Huazhe Xu
425
65
0
24 Feb 2025
Towards Fusing Point Cloud and Visual Representations for Imitation Learning
Atalay Donat
Xiaogang Jia
Xi Huang
Aleksandar Taranovic
Denis Blessing
Ge Li
Hongyi Zhou
Hanyi Zhang
Rudolf Lioutikov
Gerhard Neumann
3DPC
SSL
431
8
0
20 Feb 2025
Lift3D Foundation Policy: Lifting 2D Large-Scale Pretrained Models for Robust 3D Robotic Manipulation
Yueru Jia
Jiaming Liu
Sixiang Chen
Chenyang Gu
Zihan Wang
...
Lily Lee
Pengwei Wang
Zhongyuan Wang
Renrui Zhang
Shanghang Zhang
501
42
0
27 Nov 2024
DiffPano: Scalable and Consistent Text to Panorama Generation with Spherical Epipolar-Aware Diffusion
Neural Information Processing Systems (NeurIPS), 2024
Weicai Ye
Chenhao Ji
Zheng Chen
Junyao Gao
Xiaoshui Huang
Song-Hai Zhang
Wanli Ouyang
Tong He
Cairong Zhao
Guofeng Zhang
332
32
0
31 Oct 2024
SPA: 3D Spatial-Awareness Enables Effective Embodied Representation
International Conference on Learning Representations (ICLR), 2024
Haoyi Zhu
Honghui Yang
Yating Wang
Jiange Yang
Limin Wang
Tong He
3DH
439
25
0
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GAP-RL: Grasps As Points for RL Towards Dynamic Object Grasping
IEEE Robotics and Automation Letters (RA-L), 2024
Pengwei Xie
Siang Chen
Qianrun Chen
Wei Tang
Dingchang Hu
Yixiang Dai
Rui Chen
Guijin Wang
187
7
0
04 Oct 2024
Effective Tuning Strategies for Generalist Robot Manipulation Policies
IEEE International Conference on Robotics and Automation (ICRA), 2024
Wenbo Zhang
Yang Li
Yanyuan Qiao
Siyuan Huang
Jiajun Liu
Feras Dayoub
Xiao Ma
Lingqiao Liu
275
8
0
02 Oct 2024
MATCH POLICY: A Simple Pipeline from Point Cloud Registration to Manipulation Policies
IEEE International Conference on Robotics and Automation (ICRA), 2024
Haojie Huang
Haotian Liu
Dian Wang
Robin Walters
Robert Platt
3DPC
964
5
0
23 Sep 2024
SculptDiff: Learning Robotic Clay Sculpting from Humans with Goal Conditioned Diffusion Policy
Alison Bartsch
Arvind Car
Charlotte Avra
A. Farimani
292
11
0
15 Mar 2024
Spatiotemporal Predictive Pre-training for Robotic Motor Control
Jiange Yang
Bei Liu
Jianlong Fu
Bocheng Pan
Gangshan Wu
Limin Wang
456
23
0
08 Mar 2024
PonderV2: Pave the Way for 3D Foundation Model with A Universal Pre-training Paradigm
Haoyi Zhu
Honghui Yang
Xiaoyang Wu
Di Huang
Sha Zhang
...
Hengshuang Zhao
Chunhua Shen
Yu Qiao
Tong He
Wanli Ouyang
SSL
744
58
0
12 Oct 2023
Intrinsic Image Decomposition Using Point Cloud Representation
Xiaoyan Xing
Konrad Groh
Sezer Karaoglu
Theo Gevers
3DPC
318
1
0
20 Jul 2023
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