Related papers: A Real2Sim2Real Method for Robust Object Grasping …

In complex manipulation tasks, e.g., manipulation by pivoting, the motion of the object being manipulated has to satisfy path constraints that can change during the motion. Therefore, a single grasp may not be sufficient for the entire…

Current 6D object pose methods consist of deep CNN models fully optimized for a single object but with its architecture standardized among objects with different shapes. In contrast to previous works, we explicitly exploit each object's…

This paper presents a simple yet powerful method for 3D human mesh reconstruction from a single RGB image. Most recently, the non-local interactions of the whole mesh vertices have been effectively estimated in the transformer while the…

We propose a new approach for constructing a 3D representation from a 2D wireframe drawing. A drawing is simply a parallel projection of a 3D object onto a 2D surface; humans are able to recreate mental 3D models from 2D representations…

We are interested in reconstructing the mesh representation of object surfaces from point clouds. Surface reconstruction is a prerequisite for downstream applications such as rendering, collision avoidance for planning, animation, etc.…

3D Human Body Reconstruction from a monocular image is an important problem in computer vision with applications in virtual and augmented reality platforms, animation industry, en-commerce domain, etc. While several of the existing works…

As robots become more widely available outside industrial settings, the need for reliable object grasping and manipulation is increasing. In such environments, robots must be able to grasp and manipulate novel objects in various situations.…

Robotic grasping, the ability of robots to reliably secure and manipulate objects of varying shapes, sizes and orientations, is a complex task that requires precise perception and control. Deep neural networks have shown remarkable success…

Controlling hand exoskeletons for assisting impaired patients in grasping tasks is challenging because it is difficult to infer user intent. We hypothesize that majority of daily grasping tasks fall into a small set of categories or modes…

Surgical knot tying is one of the most fundamental and important procedures in surgery, and a high-quality knot can significantly benefit the postoperative recovery of the patient. However, a longtime operation may easily cause fatigue to…

Reconstructing multi-human body mesh from a single monocular image is an important but challenging computer vision problem. In addition to the individual body mesh models, we need to estimate relative 3D positions among subjects to generate…

This paper presents a method to reconstruct high-quality textured 3D models from both multi-view and single-view images. The reconstruction is posed as an adaptation problem and is done progressively where in the first stage, we focus on…

Statistical shape modeling is the computational process of discovering significant shape parameters from segmented anatomies captured by medical images (such as MRI and CT scans), which can fully describe subject-specific anatomy in the…

3D reconstruction of large scenes is a challenging problem due to the high-complexity nature of the solution space, in particular for generative neural networks. In contrast to traditional generative learned models which encode the full…

Neural reconstruction models for autonomous driving simulation have made significant strides in recent years, with dynamic models becoming increasingly prevalent. However, these models are typically limited to handling in-domain objects…

This work addresses hand mesh recovery from a single RGB image. In contrast to most of the existing approaches where the parametric hand models are employed as the prior, we show that the hand mesh can be learned directly from the input…

Reconstructing high-fidelity hand models with intricate textures plays a crucial role in enhancing human-object interaction and advancing real-world applications. Despite the state-of-the-art methods excelling in texture generation and…

We study the problem of shape generation in 3D mesh representation from a small number of color images with or without camera poses. While many previous works learn to hallucinate the shape directly from priors, we adopt to further improve…

Mesh plays an indispensable role in dense real-time reconstruction essential in robotics. Efforts have been made to maintain flexible data structures for 3D data fusion, yet an efficient incremental framework specifically designed for…

Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…