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Generalizable articulated object manipulation is essential for home-assistant robots. Recent efforts focus on imitation learning from demonstrations or reinforcement learning in simulation, however, due to the prohibitive costs of…

Understanding the 3D motion of articulated objects is essential in robotic scene understanding, mobile manipulation, and motion planning. Prior methods for articulation estimation have primarily focused on controlled settings, assuming…

We address the challenge of creating 3D assets for household articulated objects from a single image. Prior work on articulated object creation either requires multi-view multi-state input, or only allows coarse control over the generation…

3D articulated objects are inherently challenging for manipulation due to the varied geometries and intricate functionalities associated with articulated objects.Point-level affordance, which predicts the per-point actionable score and thus…

Numerous advancements in deep learning can be attributed to the access to large-scale and well-annotated datasets. However, such a dataset is prohibitively expensive in 3D computer vision due to the substantial collection cost. To alleviate…

Recently developed deep neural networks achieved state-of-the-art results in the subject of 6D object pose estimation for robot manipulation. However, those supervised deep learning methods require expensive annotated training data. Current…

Understanding and manipulating articulated objects, such as doors and drawers, is crucial for robots operating in human environments. We wish to develop a system that can learn to articulate novel objects with no prior interaction, after…

When automatically generating programming exercise tasks one often also needs to automatically generate programs. At the very least when providing sample solutions is part of automated feedback. But programs can also be used as part of the…

We introduce Infinigen-Articulated, a toolkit for generating realistic, procedurally generated articulated assets for robotics simulation. We include procedural generators for 18 common articulated object categories along with high-level…

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…

A bottleneck in learning to understand articulated 3D objects is the lack of large and diverse datasets. In this paper, we propose to leverage large language models (LLMs) to close this gap and generate articulated assets at scale. We…

Human-object interactions with articulated objects are common in everyday life. Despite much progress in single-view 3D reconstruction, it is still challenging to infer an articulated 3D object model from an RGB video showing a person…

Articulated objects are prevalent in daily life. Interactable digital twins of such objects have numerous applications in embodied AI and robotics. Unfortunately, current methods to digitize articulated real-world objects require carefully…

Object functionality is often expressed through part articulation -- as when the two rigid parts of a scissor pivot against each other to perform the cutting function. Such articulations are often similar across objects within the same…

Articulated 3D objects are central to many applications in robotics, AR/VR, and animation. Recent approaches to modeling such objects either rely on optimization-based reconstruction pipelines that require dense-view supervision or on…

We introduce ART, Articulated Reconstruction Transformer -- a category-agnostic, feed-forward model that reconstructs complete 3D articulated objects from only sparse, multi-state RGB images. Previous methods for articulated object…

Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In this work, we introduce a novel superpoint-based perception…

With the explosive growth of 3D content creation, there is an increasing demand for automatically converting static 3D models into articulation-ready versions that support realistic animation. Traditional approaches rely heavily on manual…

Human cognition can leverage fundamental conceptual knowledge, like geometric and kinematic ones, to appropriately perceive, comprehend and interact with novel objects. Motivated by this finding, we aim to endow machine intelligence with an…

Generating articulated assets is crucial for robotics, digital twins, and embodied intelligence. Existing generative models often rely on single-view inputs representing closed states, resulting in ambiguous or unrealistic kinematic…