Existing methods typically establish a direct joint-to-joint mapping from 2D to 3D poses based on 2D features. This formulation suffers from two fundamental limitations: inevitable error propagation from input predicted 2D pose to 3D predictions and inherent difficulties in handling self-occlusion cases. In this paper, we propose PandaPose, a 3D human pose lifting approach via propagating 2D pose prior to 3D anchor space as the unified intermediate representation. Specifically, our 3D anchor space comprises: (1) Joint-wise 3D anchors in the canonical coordinate system, providing accurate and robust priors to mitigate 2D pose estimation inaccuracies.

Graph Neural Networks (GNNs) are limited in their expressive power, struggle with long-range interactions and lack a principled way to model higher-order structures. These problems can be attributed to the strong coupling between the computational graph and the input graph structure. The recently proposed Message Passing Simplicial Networks naturally decouple these elements by performing message passing on the clique complex of the graph. Nevertheless, these models can be severely constrained by the rigid combinatorial structure of Simplicial Complexes (SCs). In this work, we extend recent theoretical results on SCs to regular Cell Complexes, topological objects that flexibly subsume SCs and graphs.

Neural Information Processing Systems http://nips.cc/

Itconsists4-regular 10 different passingapproaches Table 1: Classification Method Mean MP-GNNs 0.000 10.000 RingGNN 0.000 10.000 3WLGNN 10.916 30.000

Similarity search is a fundamental problem in computing science with various applications and has attracted significant research attention, especially in large-scale search with high dimensions.

Commercial plant phenotyping systems using fixed cameras cannot perceive many plant details due to leaf occlusion. In this paper, we present Botany-Bot, a system for building detailed "annotated digital twins" of living plants using two stereo cameras, a digital turntable inside a lightbox, an industrial robot arm, and 3D segmentated Gaussian Splat models. We also present robot algorithms for manipulating leaves to take high-resolution indexable images of occluded details such as stem buds and the underside/topside of leaves. Results from experiments suggest that Botany-Bot can segment leaves with 90.8% accuracy, detect leaves with 86.2% accuracy, lift/push leaves with 77.9% accuracy, and take detailed overside/underside images with 77.3% accuracy. Code, videos, and datasets are available at https://berkeleyautomation.github.io/Botany-Bot/.

We consider algorithmic determination of the $n$-dimensional Sherrington-Kirkpatrick (SK) spin glass model ground state free energy. It corresponds to a binary maximization of an indefinite quadratic form and under the \emph{worst case} principles of the classical NP complexity theory it is hard to approximate within a $\log(n)^{const.}$ factor. On the other hand, the SK's random nature allows (polynomial) spectral methods to \emph{typically} approach the optimum within a constant factor. Naturally one is left with the fundamental question: can the residual (constant) \emph{computational gap} be erased? Following the success of \emph{Controlled Loosening-up} (CLuP) algorithms in planted models, we here devise a simple practical CLuP-SK algorithmic procedure for (non-planted) SK models. To analyze the \emph{typical} success of the algorithm we associate to it (random) CLuP-SK models. Further connecting to recent random processes studies [94,97], we characterize the models and CLuP-SK algorithm via fully lifted random duality theory (fl RDT) [98]. Moreover, running the algorithm we demonstrate that its performance is in an excellent agrement with theoretical predictions. In particular, already for $n$ on the order of a few thousands CLuP-SK achieves $\sim 0.76$ ground state free energy and remarkably closely approaches theoretical $n\rightarrow\infty$ limit $\approx 0.763$. For all practical purposes, this renders computing SK model's near ground state free energy as a \emph{typically} easy problem.

In this paper, the issue of averaging data on a manifold is addressed. While the Fr\'echet mean resulting from Riemannian geometry appears ideal, it is unfortunately not always available and often computationally very expensive. To overcome this, R-barycenters have been proposed and successfully applied to Stiefel and Grassmann manifolds. However, R-barycenters still suffer severe limitations as they rely on iterative algorithms and complicated operators. We propose simpler, yet efficient, barycenters that we call RL-barycenters. We show that, in the setting relevant to most applications, our framework yields astonishingly simple barycenters: arithmetic means projected onto the manifold. We apply this approach to the Stiefel and Grassmann manifolds. On simulated data, our approach is competitive with respect to existing averaging methods, while computationally cheaper.

Manipulating deformable objects in robotic cells is often costly and not widely accessible. However, the use of localized pneumatic gripping systems can enhance accessibility. Current methods that use pneumatic grippers to handle deformable objects struggle with effective lifting. This paper introduces a method for the dexterous lifting of textile deformable objects from one edge, utilizing a previously developed gripper designed for flexible and porous materials. By precisely adjusting the orientation and position of the gripper during the lifting process, we were able to significantly reduce necessary gripping force and minimize object vibration caused by airflow. This method was tested and validated on four materials with varying mass, friction, and flexibility. The proposed approach facilitates the lifting of deformable objects from a conveyor or automated line, even when only one edge is accessible for grasping. Future work will involve integrating a vision system to optimize the manipulation of deformable objects with more complex shapes.

We present a spatio-temporal perspective on category-agnostic 3D lifting of 2D keypoints over a temporal sequence. Our approach differs from existing state-of-the-art methods that are either: (i) object agnostic, but can only operate on individual frames, or (ii) can model space-time dependencies, but are only designed to work with a single object category. Our approach is grounded in two core principles. First, when there is a lack of data about an object, general information from similar objects can be leveraged for better performance. Second, while temporal information is important, the most critical information is in immediate temporal proximity. These two principles allow us to outperform current state-of-the-art methods on per-frame and per-sequence metrics for a variety of objects. Lastly, we release a new synthetic dataset containing 3D skeletons and motion sequences of a diverse set animals. Dataset and code will be made publicly available.