Related papers: Real2Code: Reconstruct Articulated Objects via Cod…

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…

3D object reconstructions of transparent and concave structured objects, with inferred material properties, remains an open research problem for robot navigation in unstructured environments. In this paper, we propose a multimodal single-…

We introduce Particulate, a feed-forward model that, given a 3D mesh of an object, infers its articulations, including its 3D parts, their kinematic structure, and the motion constraints. The model is based on a transformer network, the…

Modeling 3D articulated objects with realistic geometry, textures, and kinematics is essential for a wide range of applications. However, existing optimization-based reconstruction methods often require dense multi-view inputs and expensive…

Accurate reconstruction of both the geometric and topological details of a 3D object from a single 2D image embodies a fundamental challenge in computer vision. Existing explicit/implicit solutions to this problem struggle to recover…

We propose to recover 3D shape structures from single RGB images, where structure refers to shape parts represented by cuboids and part relations encompassing connectivity and symmetry. Given a single 2D image with an object depicted, our…

Building high-fidelity digital twins of articulated objects from visual data remains a central challenge. Existing approaches depend on multi-view captures of the object in discrete, static states, which severely constrains their real-world…

The challenge in learning abstract concepts from images in an unsupervised fashion lies in the required integration of visual perception and generalizable relational reasoning. Moreover, the unsupervised nature of this task makes it…

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…

Articulation modeling aims to infer movable parts and their motion parameters for a 3D object, enabling interactive animation, simulation, and shape editing. In this paper, we present Sketch2Arti, the first sketch-based articulation…

We present SeeingThroughClutter, a method for reconstructing structured 3D representations from single images by segmenting and modeling objects individually. Prior approaches rely on intermediate tasks such as semantic segmentation and…

This paper proposes a real-time dynamic scene reconstruction method capable of reproducing the motion, geometry, and segmentation simultaneously given live depth stream from a single RGB-D camera. Our approach fuses geometry frame by frame…

We present Pix2Repair, an automated shape repair approach that generates restoration shapes from images to repair fractured objects. Prior repair approaches require a high-resolution watertight 3D mesh of the fractured object as input.…

Object classification with 3D data is an essential component of any scene understanding method. It has gained significant interest in a variety of communities, most notably in robotics and computer graphics. While the advent of deep…

Articulated 3D object generation is fundamental for creating realistic, functional, and interactable virtual assets which are not simply static. We introduce MeshArt, a hierarchical transformer-based approach to generate articulated 3D…

Reconstructing real-world objects and estimating their movable joint structures are pivotal technologies within the field of robotics. Previous research has predominantly focused on supervised approaches, relying on extensively annotated…

We propose SelfRecon, a clothed human body reconstruction method that combines implicit and explicit representations to recover space-time coherent geometries from a monocular self-rotating human video. Explicit methods require a predefined…

Our work aims to reconstruct a 3D object that is held and rotated by a hand in front of a static RGB camera. Previous methods that use implicit neural representations to recover the geometry of a generic hand-held object from multi-view…

Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains where real-world interaction or labeled data are difficult to…

Learning-based 3D object reconstruction enables single- or few-shot estimation of 3D object models. For robotics, this holds the potential to allow model-based methods to rapidly adapt to novel objects and scenes. Existing 3D reconstruction…