Related papers: Planning and Reasoning with 3D Deformable Objects …
Recent advances in robotic manipulation have highlighted the effectiveness of learning from demonstration. However, while end-to-end policies excel in expressivity and flexibility, they struggle both in generalizing to novel object…
We propose 3Deformer, a general-purpose framework for interactive 3D shape editing. Given a source 3D mesh with semantic materials, and a user-specified semantic image, 3Deformer can accurately edit the source mesh following the shape…
Functional 3D scene graphs offer a versatile and flexible representation for 3D scene understanding and robotic manipulation, defined by object nodes, interactive elements, and functional relationship edges. However, their potential remains…
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…
Visual inspection is a crucial yet time-consuming task across various industries. Numerous established methods employ machine learning in inspection tasks, necessitating specific training data that includes predefined inspection poses and…
Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel objects and their configurations. In this work, we…
Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…
Soft object manipulation tasks in domestic scenes pose a significant challenge for existing robotic skill learning techniques due to their complex dynamics and variable shape characteristics. Since learning new manipulation skills from…
Localizing objects in 3D scenes based on natural language requires understanding and reasoning about spatial relations. In particular, it is often crucial to distinguish similar objects referred by the text, such as "the left most chair"…
Learning to autonomously assemble shapes is a crucial skill for many robotic applications. While the majority of existing part assembly methods focus on correctly posing semantic parts to recreate a whole object, we interpret assembly more…
3D objects (artefacts) are made to fulfill functions. Designing an object often starts with defining a list of functionalities that it should provide, also known as functional requirements. Today, the design of 3D object models is still a…
Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…
To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…
In deformable object manipulation, we often want to interact with specific segments of an object that are only defined in non-deformed models of the object. We thus require a system that can recognize and locate these segments in sensor…
Task-oriented dexterous grasping remains challenging in robotic manipulations of open-world objects under severe partial observation, where significant missing data invalidates generic shape completion. In this paper, to overcome this…
Localizing objects in 3D scenes according to the semantics of a given natural language is a fundamental yet important task in the field of multimedia understanding, which benefits various real-world applications such as robotics and…
Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-language grounding. In this work, we focus on multi-step…
Recently, text-guided 3D generative methods have made remarkable advancements in producing high-quality textures and geometry, capitalizing on the proliferation of large vision-language and image diffusion models. However, existing methods…
Industrial assembly of deformable linear objects (DLOs) such as cables offers great potential for many industries. However, DLOs pose several challenges for robot-based automation due to the inherent complexity of deformation and,…
Deformable linear objects (DLOs), such as rods, cables, and ropes, play important roles in daily life. However, manipulation of DLOs is challenging as large geometrically nonlinear deformations may occur during the manipulation process.…