Utonia:迈向适用于所有点云的统一编码器 / Utonia: Toward One Encoder for All Point Clouds
1️⃣ 一句话总结
这篇论文提出了一个名为Utonia的通用点云编码器,它通过自监督学习将来自遥感、自动驾驶、室内场景、CAD模型等多种不同来源的3D点云数据统一到一个模型中训练,从而学习到跨领域的一致表示,不仅提升了感知能力,还能增强机器人操作和空间推理等下游任务的表现。
We dream of a future where point clouds from all domains can come together to shape a single model that benefits them all. Toward this goal, we present Utonia, a first step toward training a single self-supervised point transformer encoder across diverse domains, spanning remote sensing, outdoor LiDAR, indoor RGB-D sequences, object-centric CAD models, and point clouds lifted from RGB-only videos. Despite their distinct sensing geometries, densities, and priors, Utonia learns a consistent representation space that transfers across domains. This unification improves perception capability while revealing intriguing emergent behaviors that arise only when domains are trained jointly. Beyond perception, we observe that Utonia representations can also benefit embodied and multimodal reasoning: conditioning vision-language-action policies on Utonia features improves robotic manipulation, and integrating them into vision-language models yields gains on spatial reasoning. We hope Utonia can serve as a step toward foundation models for sparse 3D data, and support downstream applications in AR/VR, robotics, and autonomous driving.
Utonia:迈向适用于所有点云的统一编码器 / Utonia: Toward One Encoder for All Point Clouds
这篇论文提出了一个名为Utonia的通用点云编码器,它通过自监督学习将来自遥感、自动驾驶、室内场景、CAD模型等多种不同来源的3D点云数据统一到一个模型中训练,从而学习到跨领域的一致表示,不仅提升了感知能力,还能增强机器人操作和空间推理等下游任务的表现。
源自 arXiv: 2603.03283