Related papers: REACTO: Reconstructing Articulated Objects from a …
One of the fundamental goals of visual perception is to allow agents to meaningfully interact with their environment. In this paper, we take a step towards that long-term goal -- we extract highly localized actionable information related to…
We present a technique for a complete 3D reconstruction of small objects moving in front of a textured background. It is a particular variation of multibody structure from motion, which specializes to two objects only. The scene is captured…
Learning 3D shape representation with dense correspondence for deformable objects is a fundamental problem in computer vision. Existing approaches often need additional annotations of specific semantic domain, e.g., skeleton poses for human…
In this work, we propose a novel clothed human reconstruction method called GaussianBody, based on 3D Gaussian Splatting. Compared with the costly neural radiance based models, 3D Gaussian Splatting has recently demonstrated great…
Efficient representation of articulated objects such as human bodies is an important problem in computer vision and graphics. To efficiently simulate deformation, existing approaches represent 3D objects using polygonal meshes and deform…
We present a neural rendering-based method called NeRO for reconstructing the geometry and the BRDF of reflective objects from multiview images captured in an unknown environment. Multiview reconstruction of reflective objects is extremely…
3D Gaussian Splatting has achieved remarkable success in reconstructing both static and dynamic 3D scenes. However, in a scene represented by 3D Gaussian primitives, interactions between objects suffer from inaccurate 3D segmentation,…
Currently, manipulation tasks for deformable objects often focus on activities like folding clothes, handling ropes, and manipulating bags. However, research on contact-rich tasks involving deformable objects remains relatively…
Humans can learn to manipulate new objects by simply watching others; providing robots with the ability to learn from such demonstrations would enable a natural interface specifying new behaviors. This work develops Robot See Robot Do…
Existing digital human models approximate the human skeletal system using rigid bodies connected by rotational joints. While the simplification is considered acceptable for legs and arms, it significantly lacks fidelity to model rich torso…
Reconstructing non-rigid objects with physical plausibility remains a significant challenge. Existing approaches leverage differentiable rendering for per-scene optimization, recovering geometry and dynamics but requiring expensive tuning…
Scene reconstruction from multi-view images is a fundamental problem in computer vision and graphics. Recent neural implicit surface reconstruction methods have achieved high-quality results; however, editing and manipulating the 3D…
Existing methods for reconstructing interactive scenes primarily focus on replacing reconstructed objects with CAD models retrieved from a limited database, resulting in significant discrepancies between the reconstructed and observed…
Modeling animatable human avatars from monocular or multi-view videos has been widely studied, with recent approaches leveraging neural radiance fields (NeRFs) or 3D Gaussian Splatting (3DGS) achieving impressive results in novel-view and…
Reconstructing 3D clothed humans from monocular images and videos is a fundamental problem with applications in virtual try-on, avatar creation, and mixed reality. Despite significant progress in human body recovery, accurately…
Reconstruction of the shape and motion of humans from RGB-D is a challenging problem, receiving much attention in recent years. Recent approaches for full-body reconstruction use a statistic shape model, which is built upon accurate…
Reconstructing an interactive human avatar and the background from a monocular video of a dynamic human scene is highly challenging. In this work we adopt a strategy of point cloud decoupling and joint optimization to achieve the decoupled…
Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…
Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…
Articulated object manipulation remains a critical challenge in robotics due to the complex kinematic constraints and the limited physical reasoning of existing methods. In this work, we introduce ArtGS, a novel framework that extends 3D…