Related papers: S2O: Static to Openable Enhancement for Articulate…
3D articulated objects modeling has long been a challenging problem, since it requires to capture both accurate surface geometries and semantically meaningful and spatially precise structures, parts, and joints. Existing methods heavily…
Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a…
Articulated object manipulation is a critical capability for robots to perform various tasks in real-world scenarios. Composed of multiple parts connected by joints, articulated objects are endowed with diverse functional mechanisms through…
3D modeling of articulated objects is a research problem within computer vision, graphics, and robotics. Its objective is to understand the shape and motion of the articulated components, represent the geometry and mobility of object parts,…
Contrary to the vast literature in modeling, perceiving, and understanding agent-object (e.g., human-object, hand-object, robot-object) interaction in computer vision and robotics, very few past works have studied the task of object-object…
Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…
Articulated objects are common in the real world, yet modeling their structure and motion remains a challenging task for 3D reconstruction methods. In this work, we introduce Part$^{2}$GS, a novel framework for modeling articulated digital…
A deep understanding of kinematic structures and movable components is essential for enabling robots to manipulate objects and model their own articulated forms. Such understanding is captured through articulated objects, which are…
A kitchen assistant needs to operate human-scale objects, such as cabinets and ovens, in unmapped environments with dynamic obstacles. Autonomous interactions in such environments require integrating dexterous manipulation and fluid…
Semantic occupancy prediction aims to infer dense geometry and semantics of surroundings for an autonomous agent to operate safely in the 3D environment. Existing occupancy prediction methods are almost entirely trained on human-annotated…
This work proposes DOFS, a pilot dataset of 3D deformable objects (DOs) (e.g., elasto-plastic objects) with full spatial information (i.e., top, side, and bottom information) using a novel and low-cost data collection platform with a…
Foundation models can increasingly describe, reconstruct, and generate 3D objects, assemblies, scenes, and environments, but visually plausible spatial output is not yet operable 3D. A generated object or environment becomes useful to an…
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…
3D multiple object tracking (MOT) plays a crucial role in autonomous driving perception. Recent end-to-end query-based trackers simultaneously detect and track objects, which have shown promising potential for the 3D MOT task. However,…
Virtualizing the physical world into virtual models has been a critical technique for robot navigation and planning in the real world. To foster manipulation with articulated objects in everyday life, this work explores building…
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…
3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actionable kinematic information required for…
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…
We present Real2Code, a novel approach to reconstructing articulated objects via code generation. Given visual observations of an object, we first reconstruct its part geometry using an image segmentation model and a shape completion model.…
We propose a novel task of text-controlled human object interaction generation in 3D scenes with movable objects. Existing human-scene interaction datasets suffer from insufficient interaction categories and typically only consider…