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<!DOCTYPE HTML>
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<article class="post">
<header class="major">
<span class="date">2025</span>
</header>
<div class="article-container">
<h3>
<span class="image article">
<div><img src="images/Pts3DLLM_thumb.jpg" alt="Thumbnail for Pts3D-LLM" /></div>
</span>
</h3>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<b>Pts3D-LLM: Studying the Impact of Token Structure for 3D Scene Understanding With Large Language Models.</b> <i>ArXiv</i>.
<br />
H. Thomas, C. Chen, J. Zhang
<br />
<a href="https://arxiv.org/pdf/2506.05689v1" target="_blank">[PDF]</a>
<br />
</p>
</div>
<div class="article-container">
<h3>
<span class="image article">
<div><img src="images/thumb_DRMPC.png" alt="" /></div>
</span>
</h3>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<b>DR-MPC: Deep Residual Model Predictive Control for Real-world Social Navigation.</b> <i>ArXiv</i>.
<br />
J.R. Han, H. Thomas, J. Zhang, N. Rhinehart, T.D. Barfoot
<br />
<a href="https://arxiv.org/pdf/2410.10646" target="_blank">[PDF]</a>
<br />
</p>
</div>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<br />
</p>
<header class="major">
<span class="date">2024</span>
</header>
<div class="article-container">
<h3>
<span class="image article">
<div><img src="images/thumb_KPConvX.png" alt="" /></div>
</span>
</h3>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<b>KPConvX: Modernizing Kernel Point Convolution with Kernel Attention.</b> <i>CVPR 2024</i>.
<br />
H. Thomas, Y.H.H. Tsai, T.D. Barfoot, J. Zhang
<br />
<a href="https://arxiv.org/pdf/2405.13194" target="_blank">[PDF]</a>  
<a href="https://github.com/apple/ml-kpconvx" target="_blank">[GitHub] </a>  
<a href="https://machinelearning.apple.com/research/kpconvx" target="_blank">[Blog] </a>
<br />
</p>
</div>
<div class="article-container">
<h3>
<span class="image article">
<div><img src="images/thumb_MakeWay.png" alt="" /></div>
</span>
</h3>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<b>MakeWay: Object-Aware Costmaps for Proactive Indoor Navigation Using LiDAR.</b> <i>ArXiv</i>.
<br />
B. Xu, A. Tao, H. Thomas, J. Zhang, T.D. Barfoot
<br />
<a href="https://arxiv.org/abs/2408.17034" target="_blank">[PDF]</a>
<br />
</p>
</div>
<div class="article-container">
<h3>
<span class="image article">
<div><img src="images/thumb_EPG2.png" alt="" /></div>
</span>
</h3>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<b>Embedding Pose Graph, Enabling 3D Foundation Model Capabilities with a Compact Representation.</b> <i>ArXiv</i>.
<br />
H. Thomas, M. Sivapurapu, J. Zhang
<br />
<a href="https://arxiv.org/pdf/2403.13777" target="_blank">[PDF]</a>  
<a href="https://machinelearning.apple.com/research/embedding-pose-graph" target="_blank">[Blog] </a>
<br />
</p>
</div>
<div class="article-container">
<h3>
<span class="image article">
<div><img src="images/thumb_CASE2024.png" alt="" /></div>
</span>
</h3>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<b>Human Following in Mobile Platforms with Person Re-Identification.</b> <i>CASE 2024</i>.
<br />
M. Srouji, Y.H.H. Tsai, H. Thomas, J. Zhang
<br />
<a href="https://arxiv.org/pdf/2309.12479" target="_blank">[PDF]</a>  
<a href="https://machinelearning.apple.com/research/human-following" target="_blank">[Blog] </a>
<br />
</p>
</div>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<br />
</p>
<header class="major">
<span class="date">2023</span>
</header>
<div class="article-container">
<h3>
<span class="image article">
<div><img src="images/thumb_TRO2023.jpg" alt="" /></div>
</span>
</h3>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<b>The Foreseeable Future: Self-Supervised Learning to Predict Dynamic Scenes for Indoor Navigation.</b> <i>TRO, presented at ICRA 2024</i>.
<br />
H. Thomas, J. Zhang, T.D. Barfoot
<br />
<a href="https://arxiv.org/abs/2208.12602.pdf" target="_blank">[PDF]</a>  
<a href="https://github.com/utiasASRL/Crystal_Ball_Nav" target="_blank">[GitHub] </a>  
<a href="https://youtu.be/wwLl0tr8_Dg?si=eK1k6eEknVAXqgeq" target="_blank">[Video] </a>  
<a href="https://github.com/utiasASRL/UTIn3D" target="_blank">[Dataset] </a>
<br />
</p>
</div>
<div class="article-container">
<h3>
<span class="image article">
<div><img src="images/thumb_SAFER.png" alt="" /></div>
</span>
</h3>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<b>SAFER: Safe Collision Avoidance using Focused and Efficient Trajectory Search with Reinforcement Learning.</b> <i>CASE 2023</i>.
<br />
M. Srouji, H. Thomas, H. Tsai, A. Farhadi, J. Zhang
<br />
<a href="https://arxiv.org/abs/2209.11789.pdf" target="_blank">[PDF]</a>
<br />
</p>
</div>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<br />
</p>
<header class="major">
<span class="date">2022</span>
</header>
<div class="article-container">
<h3>
<span class="image article">
<div><img src="images/thumb_ICRA2022.png" alt="" /></div>
</span>
</h3>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<b>Learning Spatiotemporal Occupancy Grid Maps for Lifelong Navigation in Dynamic Scenes.</b> <i>ICRA 2022</i>.
<br />
H. Thomas, M. Gallet de Saint Aurin, J. Zhang, T.D. Barfoot
<br />
<a href="https://arxiv.org/pdf/2108.10585.pdf" target="_blank">[PDF]</a>  
<a href="https://github.com/utiasASRL/Deep-Collison-Checker" target="_blank">[GitHub] </a>  
<a href="https://youtu.be/805sThxrUVM" target="_blank">[Video] </a>
<br />
</p>
</div>
<div class="article-container">
<h3>
<span class="image article">
<div><img src="images/thumb_STPLS3D.png" alt="" /></div>
</span>
</h3>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<b>STPLS3D: A Large-Scale Synthetic and Real Aerial Photogrammetry 3D Point Cloud Dataset.</b> <i>BMVC 2022</i>.
<br />
M. Chen, Q. Hu, Z. Yu, H. Thomas, A. Feng, Y. Hou, K. McCullough, F. Ren, L. Soibelman
<br />
<a href="https://arxiv.org/abs/2203.09065.pdf" target="_blank">[PDF]</a>  
<a href="https://github.com/meidachen/STPLS3D" target="_blank">[GitHub] </a>  
<a href="https://www.stpls3d.com/" target="_blank">[Project Page] </a>
<br />
</p>
</div>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<br />
</p>
<header class="major">
<span class="date">2021</span>
</header>
<div class="article-container">
<h3>
<span class="image article">
<div><img src="images/thumb_ICRA2021.jpg" alt="" /></div>
</span>
</h3>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<b>Self-Supervised Learning of Lidar Segmentation for Autonomous Indoor Navigation.</b> <i>ICRA 2021</i>.
<br />
H. Thomas, B. Agro, M. Gridseth, J. Zhang, T.D. Barfoot
<br />
<a href="https://arxiv.org/pdf/2012.05897.pdf" target="_blank">[PDF]</a>  
<a href="https://youtu.be/Yyyrbnjqngg" target="_blank">[Video] </a>
<br />
</p>
</div>
<div class="article-container">
<h3>
<span class="image article">
<div><img src="images/thumb_ICRA2021_bis.png" alt="" /></div>
</span>
</h3>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<b> Unsupervised Learning of Lidar Features for Use in a Probabilistic Trajectory Estimator.</b> <i>RAL/ICRA 2021</i>.
<br />
D. J. Yoon, H. Zhang, M. Gridseth, H. Thomas, T.D. Barfoot
<br />
<a href="https://arxiv.org/pdf/2102.11261.pdf" target="_blank">[PDF]</a>  
<a href="https://youtu.be/RU5ZMXdDewQ" target="_blank">[Video] </a>  
<b style="color:#ff4400";>(Best Student Paper Award)</b>
<br />
</p>
</div>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<br />
</p>
<header class="major">
<span class="date">2020</span>
</header>
<div class="article-container">
<h3>
<span class="image article">
<div><img src="images/thumb5.jpg" alt="" /></div>
</span>
</h3>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<b>Rotation-Invariant Point Convolution With Multiple Equivariant Alignments.</b> <i>3DV 2020</i>.
<br />
H. Thomas
<br />
<a href="https://arxiv.org/pdf/2012.04048.pdf" target="_blank">[PDF]</a>  
<a href="https://youtu.be/VwGdMVYzreg" target="_blank">[Video] </a>
<br />
</p>
</div>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<br />
</p>
<header class="major">
<span class="date">2019</span>
</header>
<div class="article-container">
<h3>
<span class="image article">
<div><img src="images/thumb4.png" alt="" /></div>
</span>
</h3>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<b>KPConv: Flexible and Deformable Convolution for Point Clouds.</b> <i>ICCV 2019</i>.
<br />
H. Thomas, C. R. Qi, J. E. Deschaud, B. Marcotegui, F. Goulette, L. J. Guibas
<br />
<a href="https://arxiv.org/pdf/1904.08889.pdf" target="_blank">[PDF]</a>  
<a href="https://github.com/HuguesTHOMAS/KPConv" target="_blank">[GitHub] </a>  
<a href="https://youtu.be/uwuvp9mc_0o" target="_blank">[Video1] </a>  
<a href="https://youtu.be/_cFQxJorSAI" target="_blank">[Video2] </a>
<br />
</p>
</div>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<br />
</p>
<header class="major">
<span class="date">2018</span>
</header>
<div class="article-container">
<h3>
<span class="image article">
<div><img src="images/thumb2.png" alt="" /></div>
</span>
</h3>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<b>Semantic Classification of 3D Point Clouds with Multiscale Spherical Neighborhoods.</b> <i>3DV 2018</i>.
<br />
H. Thomas, J. E. Deschaud, B. Marcotegui, F. Goulette, Y. L. Gall
<br />
<a href="https://arxiv.org/pdf/1808.00495.pdf" target="_blank">[PDF]</a>  
<a href="https://youtu.be/kmnOUKEGJ14" target="_blank">[Video] </a>
<br />
</p>
</div>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<br />
</p>
<header class="major">
<span class="date">2016</span>
</header>
<div class="article-container">
<h3>
<span class="image article">
<div><img src="images/thumb1.png" alt="" /></div>
</span>
</h3>
<p style="font-size:0.85em; line-height:1.5;">
<br />
<b>Exploring Depth Information for Head Detection with Depth Images.</b> <i>AVSS 2016</i>.
<br />
S. Chen, F. Bremond, H. Nguyen, H. Thomas
<br />
<a href="https://hal.inria.fr/hal-01414757/document" target="_blank">[PDF]</a>
<br />
</p>
</div>
</article>
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