3D-DLP: 自己教師あり3Dオブジェクト中心シーン表現学習
3D-DLP: Self-Supervised 3D Object-Centric Scene Representation Learning
シーンのRGB-Dやボクセル観測を3D潜在パーティクルに分解する自己教師あり表現学習モデルを提案し、操作タスクでの性能向上を示した。
著者: Ellina Zhang, Madhaven Iyengar, Amir Zadeh, Chuan Li, Deepak Pathak, David Held, Tal Daniel
分類: cs.LG, cs.CV, cs.RO
原文アブストラクト
We introduce 3D-DLP, a self-supervised object-centric representation learning model that decomposes scene-level RGB-D or voxel observations into a set of 3D latent particles. Building on the Deep Latent Particles (DLP) framework, each particle encodes disentangled attributes, including 3D keypoint position, bounding box dimensions, and appearance features, and represents a distinct entity in the scene. The model learns interpretable per-particle segmentation maps through an end-to-end self-supervised reconstruction objective. We demonstrate on both simulated and real-world datasets that the learned latent space is interpretable and controllable: by manipulating particle positions and decoding, we can generate novel scene configurations. Furthermore, we show that leveraging these compact 3D latent particles for downstream robotic manipulation improves performance over baselines that either lack explicit 3D information or rely on memory-intensive dense 3D inputs without object-centric structure. Code and videos are available at https://eubooks3003.github.io/3d-dlp.