Related papers: AKB-48: A Real-World Articulated Object Knowledge …
Search engines and conversational assistants are commonly used to help users complete their every day tasks such as booking travel, cooking, etc. While there are some existing datasets that can be used for this purpose, their coverage is…
Vision Language Models (VLMs) have achieved impressive performance on spatial reasoning benchmarks, yet these evaluations mask critical weaknesses in understanding object interactions. Current benchmarks test high level relationships ('left…
We propose an end-to-end trainable, cross-category method for reconstructing multiple man-made articulated objects from a single RGBD image, focusing on part-level shape reconstruction and pose and kinematics estimation. We depart from…
We address the problem of building digital twins of unknown articulated objects from two RGBD scans of the object at different articulation states. We decompose the problem into two stages, each addressing distinct aspects. Our method first…
The ability to generate diverse 3D articulated head avatars is vital to a plethora of applications, including augmented reality, cinematography, and education. Recent work on text-guided 3D object generation has shown great promise in…
We present DIPO, a novel framework for the controllable generation of articulated 3D objects from a pair of images: one depicting the object in a resting state and the other in an articulated state. Compared to the single-image approach,…
In artificial intelligence (AI), knowledge is the information required by an intelligent system to accomplish tasks. While traditional knowledge bases use discrete, symbolic representations, detecting knowledge encoded in the continuous…
The ability to visually recognize objects is a fundamental skill for robotics systems. Indeed, a large variety of tasks involving manipulation, navigation or interaction with other agents, deeply depends on the accurate understanding of the…
The article identified 42 cognitive architectures for creating general artificial intelligence (AGI) and proposed a set of interrelated functional blocks that an agent approaching AGI in its capabilities should possess. Since the required…
Tiny objects, frequently appearing in practical applications, have weak appearance and features, and receive increasing interests in meany vision tasks, such as object detection and segmentation. To promote the research and development of…
The way an object looks and sounds provide complementary reflections of its physical properties. In many settings cues from vision and audition arrive asynchronously but must be integrated, as when we hear an object dropped on the floor and…
High-quality articulated 3D assets are indispensable for embodied AI and physical simulation, yet 3D generation still focuses on static meshes, leaving a gap in "sim-ready" interactive objects. Most recent articulated object creation…
We present OAKINK2, a dataset of bimanual object manipulation tasks for complex daily activities. In pursuit of constructing the complex tasks into a structured representation, OAKINK2 introduces three level of abstraction to organize the…
Training generalist agents capable of solving diverse tasks is challenging, often requiring large datasets of expert demonstrations. This is particularly problematic in robotics, where each data point requires physical execution of actions…
We train a language model to generate LEGO-brick build sequences. While prior work has been restricted to discrete, voxel-like towers, we consider a much broader set of pieces, encompassing thousands of part types with diverse connection…
Creating realistic virtual assets is a time-consuming process: it usually involves an artist designing the object, then spending a lot of effort on tweaking its appearance. Intricate details and certain effects, such as subsurface…
Access to high-quality and diverse 3D articulated digital human assets is crucial in various applications, ranging from virtual reality to social platforms. Generative approaches, such as 3D generative adversarial networks (GANs), are…
Data-driven methods have shown great potential in solving challenging manipulation tasks; however, their application in the domain of deformable objects has been constrained, in part, by the lack of data. To address this lack, we propose…
We present EgoFun3D, a coordinated task formulation, dataset, and benchmark for modeling interactive 3D objects from egocentric videos. Interactive objects are of high interest for embodied AI but scarce, making modeling from readily…
This paper focuses on the challenging problem of 3D pose estimation of a diverse spectrum of articulated objects from single depth images. A novel structured prediction approach is considered, where 3D poses are represented as skeletal…