Related papers: AKB-48: A Real-World Articulated Object Knowledge …
A deep understanding of kinematic structures and movable components is essential for enabling robots to manipulate objects and model their own articulated forms. Such understanding is captured through articulated objects, which are…
We propose Neural 3D Articulation Prior (NAP), the first 3D deep generative model to synthesize 3D articulated object models. Despite the extensive research on generating 3D objects, compositions, or scenes, there remains a lack of focus on…
Robots in human environments will need to interact with a wide variety of articulated objects such as cabinets, drawers, and dishwashers while assisting humans in performing day-to-day tasks. Existing methods either require objects to be…
Advancing robotic manipulation of deformable objects can enable automation of repetitive tasks across multiple industries, from food processing to textiles and healthcare. Yet robots struggle with the high dimensionality of deformable…
Given a single image of a general object such as a chair, could we also restore its articulated 3D shape similar to human modeling, so as to animate its plausible articulations and diverse motions? This is an interesting new question that…
A vision model with general-purpose object-level 3D understanding should be capable of inferring both 2D (e.g., class name and bounding box) and 3D information (e.g., 3D location and 3D viewpoint) for arbitrary rigid objects in natural…
The ability to understand and generate similes is an imperative step to realize human-level AI. However, there is still a considerable gap between machine intelligence and human cognition in similes, since deep models based on statistical…
We propose an unsupervised vision-based system to estimate the joint configurations of the robot arm from a sequence of RGB or RGB-D images without knowing the model a priori, and then adapt it to the task of category-independent…
Rigging and skinning are essential steps to create realistic 3D animations, often requiring significant expertise and manual effort. Traditional attempts at automating these processes rely heavily on geometric heuristics and often struggle…
We present ConceptFactory, a novel scope to facilitate more efficient annotation of 3D object knowledge by recognizing 3D objects through generalized concepts (i.e. object conceptualization), aiming at promoting machine intelligence to…
To interact with daily-life articulated objects of diverse structures and functionalities, understanding the object parts plays a central role in both user instruction comprehension and task execution. However, the possible discordance…
In order for robots to operate effectively in homes and workplaces, they must be able to manipulate the articulated objects common within environments built for and by humans. Previous work learns kinematic models that prescribe this…
Visual object counting is a fundamental computer vision task underpinning numerous real-world applications, from cell counting in biomedicine to traffic and wildlife monitoring. However, existing methods struggle to handle the challenge of…
Architecture embodies aesthetic, cultural, and historical values, standing as a tangible testament to human civilization. Researchers have long leveraged virtual reality (VR), mixed reality (MR), and augmented reality (AR) to enable…
Surgery monitoring in Mixed Reality (MR) environments has recently received substantial focus due to its importance in image-based decisions, skill assessment, and robot-assisted surgery. Tracking hands and articulated surgical instruments…
Humans commonly work with multiple objects in daily life and can intuitively transfer manipulation skills to novel objects by understanding object functional regularities. However, existing technical approaches for analyzing and…
Recent advances in Vision-Language-Action (VLA) and world-model methods have improved generalization in tasks such as robotic manipulation and object interaction. However, Successful execution of such tasks depends on large, costly…
Rigged objects are commonly used in artist pipelines, as they can flexibly adapt to different scenes and postures. However, articulating the rigs into realistic affordance-aware postures (e.g., following the context, respecting the physics…
The complexity of the visual world creates significant challenges for comprehensive visual understanding. In spite of recent successes in visual recognition, today's vision systems would still struggle to deal with visual queries that…
This paper studies the problem of fixing malfunctional 3D objects. While previous works focus on building passive perception models to learn the functionality from static 3D objects, we argue that functionality is reckoned with respect to…