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In this work, we aim to improve the 3D reasoning ability of Transformers in multi-view 3D human pose estimation. Recent works have focused on end-to-end learning-based transformer designs, which struggle to resolve geometric information…

The problem of segmenting a given image into coherent regions is important in Computer Vision and many industrial applications require segmenting a known object into its components. Examples include identifying individual parts of a…

Robots operating in unstructured environments often require accurate and consistent object-level representations. This typically requires segmenting individual objects from the robot's surroundings. While recent large models such as Segment…

We propose PartField, a feedforward approach for learning part-based 3D features, which captures the general concept of parts and their hierarchy without relying on predefined templates or text-based names, and can be applied to open-world…

If a robot masters folding a kitchen towel, we would expect it to master folding a large beach towel. However, existing policy learning methods that rely on data augmentation still don't guarantee such generalization. Our insight is to add…

Modeling a 3D volumetric shape as an assembly of decomposed shape parts is much more challenging, but semantically more valuable than direct reconstruction from a full shape representation. The neural network needs to implicitly learn part…

Learning implicit templates as neural fields has recently shown impressive performance in unsupervised shape correspondence. Despite the success, we observe current approaches, which solely rely on geometric information, often learn…

General Text-to-3D (GT23D) generation is crucial for creating diverse 3D content across objects and scenes, yet it faces two key challenges: 1) ensuring semantic consistency between input text and generated 3D models, and 2) maintaining…

In this paper, we study the problem of semantic part segmentation for animals. This is more challenging than standard object detection, object segmentation and pose estimation tasks because semantic parts of animals often have similar…

3D assembly tasks, such as furniture assembly and component fitting, play a crucial role in daily life and represent essential capabilities for future home robots. Existing benchmarks and datasets predominantly focus on assembling geometric…

Superior human pose and shape reconstruction from monocular images depends on removing the ambiguities caused by occlusions and shape variance. Recent works succeed in regression-based methods which estimate parametric models directly…

Part assembly is a typical but challenging task in robotics, where robots assemble a set of individual parts into a complete shape. In this paper, we develop a robotic assembly simulation environment for furniture assembly. We formulate the…

In many imaging modalities, objects of interest can occur in a variety of locations and poses (i.e. are subject to translations and rotations in 2d or 3d), but the location and pose of an object does not change its semantics (i.e. the…

Reasoning 3D shapes from 2D images is an essential yet challenging task, especially when only single-view images are at our disposal. While an object can have a complicated shape, individual parts are usually close to geometric primitives…

A major endeavor of computer vision is to represent, understand and extract structure from 3D data. Towards this goal, unsupervised learning is a powerful and necessary tool. Most current unsupervised methods for 3D shape analysis use…

The composition of objects and their parts, along with object-object positional relationships, provides a rich source of information for representation learning. Hence, spatial-aware pretext tasks have been actively explored in…

The performance of existing point cloud-based 3D object detection methods heavily relies on large-scale high-quality 3D annotations. However, such annotations are often tedious and expensive to collect. Semi-supervised learning is a good…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

According to existing studies, human body edge and pose are two beneficial factors to human parsing. The effectiveness of each of the high-level features (edge and pose) is confirmed through the concatenation of their features with the…

Reconstructing 3D human shape and pose from monocular images is challenging despite the promising results achieved by the most recent learning-based methods. The commonly occurred misalignment comes from the facts that the mapping from…