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Learning geometry, motion, and appearance priors of object classes is important for the solution of a large variety of computer vision problems. While the majority of approaches has focused on static objects, dynamic objects, especially…
Recent progress in robot learning has been driven by large-scale datasets and powerful visuomotor policy architectures, yet policy robustness remains limited by the substantial cost of collecting diverse demonstrations, particularly for…
This paper presents a novel framework for modeling and conditional generation of 3D articulated objects. Troubled by flexibility-quality tradeoffs, existing methods are often limited to using predefined structures or retrieving shapes from…
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…
Interactive 3D simulated objects are crucial in AR/VR, animations, and robotics, driving immersive experiences and advanced automation. However, creating these articulated objects requires extensive human effort and expertise, limiting…
Creating interactive digital environments for gaming, robotics, and simulation relies on articulated 3D objects whose functionality emerges from their part geometry and kinematic structure. However, existing approaches remain fundamentally…
In models to generate program source code from natural language, representing this code in a tree structure has been a common approach. However, existing methods often fail to generate complex code correctly due to a lack of ability to…
Object recognition has seen significant progress in the image domain, with focus primarily on 2D perception. We propose to leverage existing large-scale datasets of 3D models to understand the underlying 3D structure of objects seen in an…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
Reconstructing hand-held objects from monocular RGB images is an appealing yet challenging task. In this task, contacts between hands and objects provide important cues for recovering the 3D geometry of the hand-held objects. Though recent…
Reconstructing a complete object from its parts is a fundamental problem in many scientific domains. The purpose of this article is to provide a systematic survey on this topic. The reassembly problem requires understanding the attributes…
Articulated objects and their representations pose a difficult problem for robots. These objects require not only representations of geometry and texture, but also of the various connections and joint parameters that make up each…
Despite significant recent progress on generative models, controlled generation of images depicting multiple and complex object layouts is still a difficult problem. Among the core challenges are the diversity of appearance a given object…
We introduce a convolutional neural network for inferring a compact disentangled graphical description of objects from 2D images that can be used for volumetric reconstruction. The network comprises an encoder and a twin-tailed decoder. The…
In this paper, we present CAD2Program, a new method for reconstructing 3D parametric models from 2D CAD drawings. Our proposed method is inspired by recent successes in vision-language models (VLMs), and departs from traditional methods…
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…
Given a single image of a general object such as a chair, could we also restore its articulated 3D shape similar to human modeling, so as to animate its plausible articulations and diverse motions? This is an interesting new question that…
As autonomous robots interact and navigate around real-world environments such as homes, it is useful to reliably identify and manipulate articulated objects, such as doors and cabinets. Many prior works in object articulation…
Reconstructing articulated objects is essential for building digital twins of interactive environments. However, prior methods typically decouple geometry and motion by first reconstructing object shape in distinct states and then…
We build rearticulable models for arbitrary everyday man-made objects containing an arbitrary number of parts that are connected together in arbitrary ways via 1 degree-of-freedom joints. Given point cloud videos of such everyday objects,…