Related papers: Category-Level Multi-Part Multi-Joint 3D Shape Ass…
Multi-part assembly poses significant challenges for robots to execute long-horizon, contact-rich manipulation with generalization across complex geometries. We present Fabrica, a dual-arm robotic system capable of end-to-end planning and…
Folding is emerging as a promising manufacturing process to transform flat materials into functional structures, offering efficiency by reducing the need for welding, gluing, and molding, while minimizing waste and enabling automation.…
Compared to joint position, the accuracy of joint rotation and shape estimation has received relatively little attention in the skinned multi-person linear model (SMPL)-based human mesh reconstruction from multi-view images. The work in…
3D part assembly aims to understand part relationships and predict their 6-DoF poses to construct realistic 3D shapes, addressing the growing demand for autonomous assembly, which is crucial for robots. Existing methods mainly estimate the…
Recent advances in deep learning have significantly transformed the field of 3D shape generation, enabling the synthesis of complex, diverse, and semantically meaningful 3D objects. This survey provides a comprehensive overview of the…
Statistical shape modeling is an essential tool for the quantitative analysis of anatomical populations. Point distribution models (PDMs) represent the anatomical surface via a dense set of correspondences, an intuitive and easy-to-use…
Graph-based clustering methods have demonstrated the effectiveness in various applications. Generally, existing graph-based clustering methods first construct a graph to represent the input data and then partition it to generate the…
When a toddler is presented a new toy, their instinctual behaviour is to pick it upand inspect it with their hand and eyes in tandem, clearly searching over its surface to properly understand what they are playing with. At any instance…
Graph-based methods have proven to be effective in capturing relationships among points for 3D point cloud analysis. However, these methods often suffer from suboptimal graph structures, particularly due to sparse connections at boundary…
In this paper, we consider folding assembly as an assembly primitive suitable for dual-arm robotic assembly, that can be integrated in a higher level assembly strategy. The system composed by two pieces in contact is modelled as an…
Reassembling 3D broken objects is a challenging task. A robust solution that generalizes well must deal with diverse patterns associated with different types of broken objects. We propose a method that tackles the pairwise assembly of 3D…
Shape fabrication from developable parts is the basis for arts such as papercraft and needlework, as well as modern architecture and CAD in general, and it has inspired much research. We observe that the assembly of complex 3D shapes…
Generating 3D shapes at part level is pivotal for downstream applications such as mesh retopology, UV mapping, and 3D printing. However, existing part-based generation methods often lack sufficient controllability and suffer from poor…
We address the problem of estimating the pose and shape of vehicles from LiDAR scans, a common problem faced by the autonomous vehicle community. Recent work has tended to address pose and shape estimation separately in isolation, despite…
We address semantic 3D part segmentation: decomposing objects into parts with meaningful names. While datasets exist with part annotations, their definitions are inconsistent across datasets, limiting robust training. Previous methods…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
We present a novel methodology that combines graph and dense segmentation techniques by jointly learning both point and pixel contour representations, thereby leveraging the benefits of each approach. This addresses deficiencies in typical…
Scene graphs have been recently introduced into 3D spatial understanding as a comprehensive representation of the scene. The alignment between 3D scene graphs is the first step of many downstream tasks such as scene graph aided point cloud…
Assembly-based tools provide a powerful modeling paradigm for non-expert shape designers. However, choosing a component from a large shape repository and aligning it to a partial assembly can become a daunting task. In this paper we…
This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…