Related papers: Grasping Field: Learning Implicit Representations …
We present a learning-based method for representing grasp poses of a high-DOF hand using neural networks. Due to redundancy in such high-DOF grippers, there exists a large number of equally effective grasp poses for a given target object,…
Generative models aim to learn the distribution of observed data by generating new instances. With the advent of neural networks, deep generative models, including variational autoencoders (VAEs), generative adversarial networks (GANs), and…
Grasp planning and estimation have been a longstanding research problem in robotics, with two main approaches to find graspable poses on the objects: 1) geometric approach, which relies on 3D models of objects and the gripper to estimate…
Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…
Recent advances in localized implicit functions have enabled neural implicit representation to be scalable to large scenes. However, the regular subdivision of 3D space employed by these approaches fails to take into account the sparsity of…
We propose a new method for reconstructing controllable implicit 3D human models from sparse multi-view RGB videos. Our method defines the neural scene representation on the mesh surface points and signed distances from the surface of a…
Recent approaches to jointly reconstruct 3D humans and objects from a single RGB image represent 3D shapes with template-based or coarse models, which fail to capture details of loose clothing on human bodies. In this paper, we introduce a…
We present implicit displacement fields, a novel representation for detailed 3D geometry. Inspired by a classic surface deformation technique, displacement mapping, our method represents a complex surface as a smooth base surface plus a…
Reconstructing high-quality 3D objects from sparse, partial observations from a single view is of crucial importance for various applications in computer vision, robotics, and graphics. While recent neural implicit modeling methods show…
We propose a novel Deformed Implicit Field (DIF) representation for modeling 3D shapes of a category and generating dense correspondences among shapes. With DIF, a 3D shape is represented by a template implicit field shared across the…
Dexterous grasp synthesis must jointly satisfy functional intent and physical feasibility, yet existing pipelines often decouple semantic grounding from refinement, yielding unstable or non-functional contacts under object and pose…
Neural implicit functions have emerged as a powerful representation for surfaces in 3D. Such a function can encode a high quality surface with intricate details into the parameters of a deep neural network. However, optimizing for the…
We propose a multimodal, physically grounded approach for metric-scale amodal object reconstruction and pose estimation under severe hand occlusion. Unlike prior occlusion-aware 3D generation methods that rely only on vision, we leverage…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…
Modeling animatable human avatars from videos is a long-standing and challenging problem. While conventional methods require per-instance optimization, recent feed-forward methods have been proposed to generate 3D Gaussians with a learnable…
To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…
The objective of this paper is to learn dense 3D shape correspondence for topology-varying generic objects in an unsupervised manner. Conventional implicit functions estimate the occupancy of a 3D point given a shape latent code. Instead,…
We approach the problem of high-DOF reaching-and-grasping via learning joint planning of grasp and motion with deep reinforcement learning. To resolve the sample efficiency issue in learning the high-dimensional and complex control of…
Training a deep network policy for robot manipulation is notoriously costly and time consuming as it depends on collecting a significant amount of real world data. To work well in the real world, the policy needs to see many instances of…
To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner.…