mini-mesh
Create detailed, textured 3D meshes of anything from a short smartphone video. A one-command Docker setup provides a full pipeline from video capture through neural surface reconstruction to export-ready textured meshes.
Evaluating Latent Generative Paradigms for High-Fidelity 3D Shape Completion
We compare diffusion models and autoregressive transformers for reconstructing complete 3D shapes from partial depth images, showing that a diffusion model with continuous latents outperforms both discriminative models and autoregressive approaches, achieving state-of-the-art performance on multi-modal shape completion.
PaperPipe
A CLI tool that maintains a local paper database with PDFs, LaTeX source, extracted equations, and coding-oriented summaries. Integrates with coding agents (Claude Code, Codex, Gemini CLI) so they can ground their responses in actual paper content rather than hallucinating implementation details.
Saliency
Elucidating the decision-making processes of deep learning models is crucial for building reliable systems. This repository implements various saliency methods, including Vanilla Gradients, Guided Backpropagation, Integrated Gradients, Grad-CAM, and their SmoothGrad variants in PyTorch.
BlenderProc Publication Visualization
Visualizing data is my passion as you might have gathered from the content of this blog. Not having the time to make beautiful visualizations for a project or publication thus hurts all the more. I therefore decided to finally sit down for a couple of days and implement an easy-to-use tool that allows for the generation of publication-ready visualizations in seconds instead of hours. The result is BlenderProc Publication Visualization (bproc-pubvis), a Python package that allows for the generation of beautiful visualizations of 3D objects and point clouds in seconds instead of hours. Enjoy!
Combining Shape Completion and Grasp Prediction for Fast and Versatile Grasping with a Multi-Fingered Hand
We propose a pipeline combining shape completion from single depth images with grasp prediction for multi-fingered hands. Our system reconstructs object geometry and generates 1000 grasp candidates in approximately one second, enabling fast and versatile grasping of unknown objects.
Shape Completion with Prediction of Uncertain Regions
We propose two novel methods for predicting uncertain geometric regions as straightforward extensions of any method for predicting local spatial occupancy. Our evaluation demonstrates that avoiding predicted uncertain regions improves grasp quality in robotic manipulation.
Implicit Function Learning
There are many ways to represent 3D shapes, from the ubiquitous triangle mesh to voxel grids and point clouds. And then there is the one to rule them all: The implicit function.
Deep Learning on photorealistic synthetic data
If you work in machine learning, or worse, deep learning, you have probably encountered the problem of too few data at least once. For a classification task you might get away with hand-labeling a couple of thousand images and even detection might still be within manual reach if you can convince enough friends to help you. And then you also want to do segmenation. Even if possible, hand-labeling is an incredibly boring, menial task. But what if you could automate it by rendering photorealistic synthetic training data with pixel-perfect annotations for all kinds of scene understanding problems?
Attention
Yet another article on attention? Yes, but this one is annotated, illustrated and animated focusing on attention itself instead of the architecture making it famous. After all, attention is all you need, not Transformers.
Context
A short introduction to the importance of context in machine learning which also serves as an introduction to the upcoming article on attention.
Easy Open3D
An easy-to-use wrapper around (as well as utility functions and scripts for) some of Open3D's registration functionality.
Learning from Projections
The final post in this four-part series on learning from 3D data. How do we learn from 3D data in this approach? We don't. Instead, we project it into the more familiar 2D space and then proceed with business as usual. Neither exciting nor elegant but embarrassingly simple, effective and efficient.
Learning from Graphs
The third way to represent data in 3D. We will learn what a graph is and how it is different from point clouds and voxel grids. Then we will put some butter on the fish (German for "put our money where our mouth is") and look at some implementations of deep learning architectures for graph structured data and their results.
Learning from Voxels
The second post in the series on learning on 3D data. Last time we looked at point clouds; this time we'll be looking at voxel grids. Let's get to it.
Learning from Point Clouds
In the previous article we've explored 3D data and various ways to represent it. Now, let's look at ways to learn from it to classify objects and perform other standard computer vision tasks, but now in three instead of two dimensions! This aspires to become a series devoted to various techniques of learning from various types of 3D data, starting with point clouds.
Truly understanding 1x1 convolutions
There are many explanations out there trying to convince you of the utility of 1x1 convolutions as bottlenecks to reduce computational complexity and replacements for fully connected layers, but they always glanced over some pretty important details in my opinion. Here is the full picture.
Flatlands
I've recently started working with the institutes robots which perceive their environment not only with cameras but also with depth sensors. Working with the 3D data obtained from these sensors is quite different from working with images and this is the summary of what I've learned so far. How to do deep learning on this data will be covered in the next post.
Atomic Habits
One-O-one of ATOMIC HABITS by James Clear. For anyone who ever wanted to get anything done.
Laplace Approximation for Bayesian Deep Learning
A deep look into Bayesian neural networks from a practical point of view and from theory to application. This is the final part of my informal 3 part mini-series on probabilistic machine learning, part 1 and 2 being "Looking for Lucy" and "A sense of uncertainty".
A sense of uncertainty
See what happens when probability theory and deep learning have a little chat. Part 2/3 of my informal mini-series on probabilistic machine learning ("Looking for Lucy" being the first).
Looking for Lucy
My own take on explaining some fundamentals of probability theory, intended as a primer for probabilistic machine learning. In part 1/3 (this article), we have a look at joint, conditional and marginal probabilities, continuous and discrete as well as multivariate distributions, independence and Bayes' Theorem.
Beautiful Blogging
How does this blog work? What are all these tagged things? Why GitHub pages? This article answers all of these questions and more!
Awesome Resources
A list of awesome things on the web I've stumbled upon or have been directed to. Those include great (visual) explanations of complicated topics in machine learning and science in general, software tools and other fun stuff.
Important Conferences
I'm still exploring what it means to be a researcher. Here I'll take a look at conferences, which play an important role in my field. I'll also provide a timeline of the most important MACHINE/DEEP LEARNING, ROBOTICS, COMPUTER VISION and ARTIFICIAL INTELLIGENCE conferences including paper submission deadlines.
Deep Work
An overview of DEEP WORK, a book by Cal Newport, intended as a reference for quickly looking up how to get lost in your work rather than in distractions. For people in a hurry there is a 5 minutes summary at the end of the article.
What makes a good article?
Some thoughts on writing useful articles. Those are mainly things I saw elsewhere and would like to incorporate into my own writing but also things I often miss in otherwise great texts.
My daily routine
An overview of how I imagine my work days to be. In the hope to remember and to keep myself accountable.
Robotics & machine learning PhD topics list
An ongoing list of potential PhD topics. I thought it might be helpful to put this list here to motivate me but also to be able to easily share it and potentially to get some input from elsewhere. So feel free to comment if you have any great ideas!
Hello World!
Welcome to my blog! Here I'll be posting about all kinds of topics that interest me like biking, hiking, baking and building. And MACHINE LEARNING! There is probably not much here yet, but I promise there will be soon :)