Related papers: PASTA: Controllable Part-Aware Shape Generation wi…

Articulated objects are fundamental for robotics, simulation of physics, and interactive virtual environments. However, reconstructing them from visual input remains challenging, as it requires jointly inferring both part geometry and…

Articulated objects are central to interactive 3D applications, including embodied AI, robotics, and VR/AR, where functional part decomposition and kinematic motion are essential. Yet producing high-fidelity articulated assets remains…

The 3D shape of a robot's end-effector plays a critical role in determining it's functionality and overall performance. Many industrial applications rely on task-specific gripper designs to ensure the system's robustness and accuracy.…

Point clouds are rich geometric data structures, where their three dimensional structure offers an excellent domain for understanding the representation learning and generative modeling in 3D space. In this work, we aim to improve the…

The field of image synthesis is currently flourishing due to the advancements in diffusion models. While diffusion models have been successful, their computational intensity has prompted the pursuit of more efficient alternatives. As a…

Most 3D shape completion approaches rely heavily on partial-complete shape pairs and learn in a fully supervised manner. Despite their impressive performances on in-domain data, when generalizing to partial shapes in other forms or…

Text-to-image (T2I) diffusion models are widely used in image editing due to their powerful generative capabilities. However, achieving fine-grained control over specific object attributes, such as color and material, remains a considerable…

This paper presents a weakly-supervised approach to object instance segmentation. Starting with known or predicted object bounding boxes, we learn object masks by playing a game of cut-and-paste in an adversarial learning setup. A mask…

We address the challenge of generating 3D articulated objects in a controllable fashion. Currently, modeling articulated 3D objects is either achieved through laborious manual authoring, or using methods from prior work that are hard to…

Deep learning-based robotic grasping has made significant progress thanks to algorithmic improvements and increased data availability. However, state-of-the-art models are often trained on as few as hundreds or thousands of unique object…

We present a novel resizing module for neural networks: shape adaptor, a drop-in enhancement built on top of traditional resizing layers, such as pooling, bilinear sampling, and strided convolution. Whilst traditional resizing layers have…

Existing generative models for 3D shapes are typically trained on a large 3D dataset, often of a specific object category. In this paper, we investigate the deep generative model that learns from only a single reference 3D shape.…

Autonomous assembly of objects is an essential task in robotics and 3D computer vision. It has been studied extensively in robotics as a problem of motion planning, actuator control and obstacle avoidance. However, the task of developing a…

Generative models have proven effective at modeling 3D shapes and their statistical variations. In this paper we investigate their application to point clouds, a 3D shape representation widely used in computer vision for which, however,…

Generative modeling of 3D shapes has become an important problem due to its relevance to many applications across Computer Vision, Graphics, and VR. In this paper we build upon recently introduced 3D mesh-convolutional Variational…

Existing methods for image alignment struggle in cases involving feature-sparse regions, extreme scale and field-of-view differences, and large deformations, often resulting in suboptimal accuracy. Robustness to these challenges can be…

We propose a novel Transformer-based architecture for the task of generative modelling of 3D human motion. Previous work commonly relies on RNN-based models considering shorter forecast horizons reaching a stationary and often implausible…

Real-world data is high-dimensional: a book, image, or musical performance can easily contain hundreds of thousands of elements even after compression. However, the most commonly used autoregressive models, Transformers, are prohibitively…

High-quality textures are critical for realistic 3D content creation, yet existing generative methods are slow, rely on UV maps, and often fail to remain faithful to a reference image. To address these challenges, we propose a…

While the community of 3D point cloud generation has witnessed a big growth in recent years, there still lacks an effective way to enable intuitive user control in the generation process, hence limiting the general utility of such methods.…