Related papers: Articulate AnyMesh: Open-Vocabulary 3D Articulated…
What does it take to build mobile manipulation systems that can competently operate on previously unseen objects in previously unseen environments? This work answers this question using opening of articulated structures as a mobile…
Animating an object in 3D often requires an articulated structure, e.g. a kinematic chain or skeleton of the manipulated object with proper skinning weights, to obtain smooth movements and surface deformations. However, existing models that…
Rigged objects are commonly used in artist pipelines, as they can flexibly adapt to different scenes and postures. However, articulating the rigs into realistic affordance-aware postures (e.g., following the context, respecting the physics…
Understanding articulated objects from monocular video is a crucial yet challenging task in robotics and digital twin creation. Existing methods often rely on complex multi-view setups, high-fidelity object scans, or fragile long-term point…
Creating realistic 3D animation remains a time-consuming and expertise-dependent process, requiring manual rigging, keyframing, and fine-tuning of complex motions. Meanwhile, video diffusion models have recently demonstrated remarkable…
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…
We introduce Open3DIS, a novel solution designed to tackle the problem of Open-Vocabulary Instance Segmentation within 3D scenes. Objects within 3D environments exhibit diverse shapes, scales, and colors, making precise instance-level…
Advances in 3D generative AI have enabled the creation of physical objects from text prompts, but challenges remain in creating objects involving multiple component types. We present a pipeline that integrates 3D generative AI with…
Articulated objects are ubiquitous in daily life. Our goal is to achieve a high-quality reconstruction, segmentation of independent moving parts, and analysis of articulation. Recent methods analyse two different articulation states and…
Semantics has enabled 3D scene understanding and affordance-driven object interaction. However, robots operating in real-world environments face a critical limitation: they cannot anticipate how objects move. Long-horizon mobile…
The ability to generate diverse 3D articulated head avatars is vital to a plethora of applications, including augmented reality, cinematography, and education. Recent work on text-guided 3D object generation has shown great promise in…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
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…
Articulation modeling enables robots to learn joint parameters of articulated objects for effective manipulation which can then be used downstream for skill learning or planning. Existing approaches often rely on prior knowledge about the…
The increasing demand for augmented reality and robotics is driving the need for articulated object reconstruction with high scalability. However, existing settings for reconstructing from discrete articulation states or casual monocular…
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…
Building digital twins of articulated objects from monocular video presents an essential challenge in computer vision, which requires simultaneous reconstruction of object geometry, part segmentation, and articulation parameters from…
Image-guided object assembly represents a burgeoning research topic in computer vision. This paper introduces a novel task: translating multi-view images of a structural 3D model (for example, one constructed with building blocks drawn from…
3D object detection plays a crucial role in autonomous systems, yet existing methods are limited by closed-set assumptions and struggle to recognize novel objects and their attributes in real-world scenarios. We propose OVODA, a novel…
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…