{"id":"https://openalex.org/W4405785836","doi":"https://doi.org/10.1109/iros58592.2024.10801828","title":"Loss Distillation via Gradient Matching for Point Cloud Completion with Weighted Chamfer Distance","display_name":"Loss Distillation via Gradient Matching for Point Cloud Completion with Weighted Chamfer Distance","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785836","doi":"https://doi.org/10.1109/iros58592.2024.10801828"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801828","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801828","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026905610","display_name":"Fangzhou Lin","orcid":"https://orcid.org/0000-0002-1749-3599"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fangzhou Lin","raw_affiliation_strings":["Worcester Polytechnic Institute,Department of Robotics Engineering,Worcester,MA,USA,01609"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute,Department of Robotics Engineering,Worcester,MA,USA,01609","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103047904","display_name":"Haotian Liu","orcid":"https://orcid.org/0000-0002-9554-7839"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haotian Liu","raw_affiliation_strings":["Worcester Polytechnic Institute,Department of Robotics Engineering,Worcester,MA,USA,01609"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute,Department of Robotics Engineering,Worcester,MA,USA,01609","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000027588","display_name":"Haoying Zhou","orcid":"https://orcid.org/0000-0001-6976-4015"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haoying Zhou","raw_affiliation_strings":["Worcester Polytechnic Institute,Department of Robotics Engineering,Worcester,MA,USA,01609"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute,Department of Robotics Engineering,Worcester,MA,USA,01609","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112664534","display_name":"Songlin Hou","orcid":null},"institutions":[{"id":"https://openalex.org/I4210149435","display_name":"DELL (United States)","ror":"https://ror.org/05rejmm18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210149435"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Songlin Hou","raw_affiliation_strings":["Dell Technologies,Hopkinton,MA,USA,01748"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dell Technologies,Hopkinton,MA,USA,01748","institution_ids":["https://openalex.org/I4210149435"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050925044","display_name":"Kazunori D Yamada","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazunori D Yamada","raw_affiliation_strings":["Tohoku University,Graduate School of Information Sciences,Sendai,Japan,980-8579"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku University,Graduate School of Information Sciences,Sendai,Japan,980-8579","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057001205","display_name":"Gregory S. Fischer","orcid":"https://orcid.org/0000-0001-6723-6614"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory S. Fischer","raw_affiliation_strings":["Worcester Polytechnic Institute,Department of Robotics Engineering,Worcester,MA,USA,01609"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute,Department of Robotics Engineering,Worcester,MA,USA,01609","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068292530","display_name":"Yanhua Li","orcid":"https://orcid.org/0000-0003-0016-8228"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yanhua Li","raw_affiliation_strings":["Worcester Polytechnic Institute,Department of Computer Science,Worcester,MA,USA,01609"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute,Department of Computer Science,Worcester,MA,USA,01609","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077612510","display_name":"Haichong K. Zhang","orcid":"https://orcid.org/0000-0002-1314-8456"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haichong K. Zhang","raw_affiliation_strings":["Worcester Polytechnic Institute,Department of Robotics Engineering,Worcester,MA,USA,01609"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute,Department of Robotics Engineering,Worcester,MA,USA,01609","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048506332","display_name":"Ziming Zhang","orcid":"https://orcid.org/0000-0002-0921-8298"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ziming Zhang","raw_affiliation_strings":["Worcester Polytechnic Institute,Department of Electrical & Computer Engineering,Worcester,MA,USA,01609"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute,Department of Electrical & Computer Engineering,Worcester,MA,USA,01609","institution_ids":["https://openalex.org/I107077323"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"511","last_page":"518"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9050999879837036,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9050999879837036,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/chamfer","display_name":"Chamfer (geometry)","score":0.824759304523468},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5895077586174011},{"id":"https://openalex.org/keywords/distillation","display_name":"Distillation","score":0.5829281806945801},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5626766681671143},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5344393253326416},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48264867067337036},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3604569435119629},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21789786219596863},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.17512235045433044},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.11949741840362549},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.09921464323997498}],"concepts":[{"id":"https://openalex.org/C2776313386","wikidata":"https://www.wikidata.org/wiki/Q18018756","display_name":"Chamfer (geometry)","level":2,"score":0.824759304523468},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5895077586174011},{"id":"https://openalex.org/C204030448","wikidata":"https://www.wikidata.org/wiki/Q101017","display_name":"Distillation","level":2,"score":0.5829281806945801},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5626766681671143},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5344393253326416},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48264867067337036},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3604569435119629},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21789786219596863},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.17512235045433044},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.11949741840362549},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.09921464323997498},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801828","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801828","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1964318763","https://openalex.org/W1995714461","https://openalex.org/W2098295746","https://openalex.org/W2115579991","https://openalex.org/W2122645144","https://openalex.org/W2126538441","https://openalex.org/W2137387796","https://openalex.org/W2156838423","https://openalex.org/W2553307952","https://openalex.org/W2796426482","https://openalex.org/W2798270772","https://openalex.org/W2886499109","https://openalex.org/W2944579304","https://openalex.org/W2955307761","https://openalex.org/W2962737955","https://openalex.org/W3015735225","https://openalex.org/W3019140501","https://openalex.org/W3034368386","https://openalex.org/W3039448353","https://openalex.org/W3109518641","https://openalex.org/W3116896928","https://openalex.org/W3191573718","https://openalex.org/W3203898101","https://openalex.org/W4200635407","https://openalex.org/W4223431326","https://openalex.org/W4244102296","https://openalex.org/W4291014897","https://openalex.org/W4307339700","https://openalex.org/W4312663892","https://openalex.org/W4313183789","https://openalex.org/W4383109460","https://openalex.org/W4390872578","https://openalex.org/W4393153707","https://openalex.org/W6638523607","https://openalex.org/W6687484953","https://openalex.org/W6781568228","https://openalex.org/W6795968969","https://openalex.org/W6805042473","https://openalex.org/W6805520492","https://openalex.org/W6869433100","https://openalex.org/W6870329307"],"related_works":["https://openalex.org/W2088651759","https://openalex.org/W2134508677","https://openalex.org/W4324094550","https://openalex.org/W2054153498","https://openalex.org/W4381747464","https://openalex.org/W4307266377","https://openalex.org/W1993689898","https://openalex.org/W4317376074","https://openalex.org/W2023549875","https://openalex.org/W3161970574"],"abstract_inverted_index":{"3D":[0],"point":[1,62,208],"clouds":[2],"enhanced":[3],"the":[4,9,13,39,145,168,173,185,197],"robot\u2019s":[5],"ability":[6],"to":[7,48,109,137,166,193,213],"perceive":[8],"geometrical":[10],"information":[11],"of":[12,32,41,113],"environments,":[14],"making":[15],"it":[16],"possible":[17],"for":[18,59,100,207],"many":[19],"downstream":[20],"tasks":[21],"such":[22,65],"as":[23,44,66],"grasp":[24],"pose":[25],"detection":[26],"and":[27,51,70,152,195,211],"scene":[28],"understanding.":[29],"The":[30],"performance":[31,192],"these":[33,87],"tasks,":[34],"though,":[35],"heavily":[36],"relies":[37],"on":[38,172,217],"quality":[40],"data":[42],"input,":[43],"incomplete":[45],"can":[46,82,97,188,204],"lead":[47,212],"poor":[49],"results":[50,216],"failure":[52],"cases.":[53],"Recent":[54],"training":[55,115],"loss":[56,89,141],"functions":[57,90,142],"designed":[58],"deep":[60],"learning-based":[61],"cloud":[63,209],"completion,":[64],"Chamfer":[67],"distance":[68],"(CD)":[69],"its":[71],"variants":[72],"(e.g.":[73],"HyperCD":[74,151,206],"[1]),":[75],"imply":[76],"a":[77,111,129,161],"good":[78,139],"gradient":[79],"weighting":[80],"scheme":[81],"significantly":[83],"boost":[84],"performance.":[85],"However,":[86],"CD-based":[88],"usually":[91],"require":[92],"data-related":[93],"parameter":[94,122],"tuning,":[95],"which":[96],"be":[98],"time-consuming":[99],"data-extensive":[101],"tasks.":[102],"To":[103,124],"address":[104],"this":[105,125,156],"issue,":[106],"we":[107,127,159],"aim":[108],"find":[110,138],"family":[112],"weighted":[114,153,174,183,186,199],"losses":[116],"(weighted":[117],"CD)":[118],"that":[119],"requires":[120],"no":[121],"tuning.":[123],"end,":[126],"propose":[128,160],"search":[130],"scheme,":[131],"Loss":[132],"Distillation":[133],"via":[134],"Gradient":[135],"Matching,":[136],"candidate":[140],"by":[143],"mimicking":[144],"learning":[146],"behavior":[147],"in":[148],"backpropagation":[149],"between":[150],"CD.":[154],"Once":[155],"is":[157,224],"done,":[158],"novel":[162],"bilevel":[163],"optimization":[164],"formula":[165],"train":[167],"backbone":[169],"network":[170],"based":[171],"CD":[175,187],"loss.":[176],"We":[177],"observe":[178],"that:":[179],"(1)":[180],"with":[181],"proper":[182],"functions,":[184],"always":[189],"achieve":[190],"similar":[191],"HyperCD,":[194],"(2)":[196],"Landau":[198,202],"CD,":[200,203],"namely":[201],"outperform":[205],"completion":[210],"new":[214],"state-of-the-art":[215],"several":[218],"benchmark":[219],"datasets.":[220],"Our":[221],"demo":[222],"code":[223],"available":[225],"at":[226],"https://github.com/Zhang-VISLab/IROS2024-LossDistillationWeightedCD.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}