Related papers: Inferring 3D Articulated Models for Box Packaging …

Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved. Furthermore, caging also provides useful guarantees in terms of robustness to uncertainty, and often…

We introduce a method for modeling a configuration of objects in 2D or 3D images using a mathematical "skeletal linking structure" which will simultaneously capture the individual shape features of the objects and their positional…

Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…

Reorienting objects by using supports is a practical yet challenging manipulation task. Owing to the intricate geometry of objects and the constrained feasible motions of the robot, multiple manipulation steps are required for object…

Learning articulated object pose is inherently difficult because the pose is high dimensional but has many structural constraints. Most existing work do not model such constraints and does not guarantee the geometric validity of their pose…

We propose an interactive approach for 3D instance segmentation, where users can iteratively collaborate with a deep learning model to segment objects in a 3D point cloud directly. Current methods for 3D instance segmentation are generally…

3D world models (i.e., learning-based 3D dynamics models) offer a promising approach to generalizable robotic manipulation by capturing the underlying physics of environment evolution conditioned on robot actions. However, existing 3D world…

Modern 3D printing technologies and the upcoming mass-customization paradigm call for efficient methods to produce and distribute arbitrarily-shaped 3D objects. This paper introduces an original algorithm to split a 3D model in parts that…

Articulated object manipulation is a critical capability for robots to perform various tasks in real-world scenarios. Composed of multiple parts connected by joints, articulated objects are endowed with diverse functional mechanisms through…

Object search -- the problem of finding a target object in a cluttered scene -- is essential to solve for many robotics applications in warehouse and household environments. However, cluttered environments entail that objects often occlude…

This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…

This paper presents an approach for inferring geometric constraints in human demonstrations. In our method, geometric constraint models are built to create representations of kinematic constraints such as fixed point, axial rotation,…

If robots could reliably manipulate the shape of 3D deformable objects, they could find applications in fields ranging from home care to warehouse fulfillment to surgical assistance. Analytic models of elastic, 3D deformable objects require…

We tackle the challenge of robotic bin packing with irregular objects, such as groceries. Given the diverse physical attributes of these objects and the complex constraints governing their placement and manipulation, employing preprogrammed…

This paper considers the task of locating articulated poses of multiple robots in images. Our approach simultaneously infers the number of robots in a scene, identifies joint locations and estimates sparse depth maps around joint locations.…

For robots to understand human instructions and perform meaningful tasks in the near future, it is important to develop learned models that comprehend referential language to identify common objects in real-world 3D scenes. In this paper,…

This paper focuses on motion prediction for point cloud sequences in the challenging case of deformable 3D objects, such as human body motion. First, we investigate the challenges caused by deformable shapes and complex motions present in…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

While three-dimensional (3D) building models play an increasingly pivotal role in many real-world applications, obtaining a compact representation of buildings remains an open problem. In this paper, we present a novel framework for…

Human creativity follows a perceptual process, moving from abstract ideas to finer details during creation. While 3D generative models have advanced dramatically, models specifically designed to assist human imagination in 3D creation --…