Related papers: Articulate AnyMesh: Open-Vocabulary 3D Articulated…
Prior work for articulated 3D shape reconstruction often relies on specialized sensors (e.g., synchronized multi-camera systems), or pre-built 3D deformable models (e.g., SMAL or SMPL). Such methods are not able to scale to diverse sets of…
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…
Vision-language models (VLMs) excel in visual understanding but often lack reliable grounding capabilities and actionable inference rates. Integrating them with open-vocabulary object detection (OVD), instance segmentation, and tracking…
Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab settings, and prior mobile manipulation work is restricted to…
To interact with daily-life articulated objects of diverse structures and functionalities, understanding the object parts plays a central role in both user instruction comprehension and task execution. However, the possible discordance…
The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…
3D models of manufactured objects are important for populating virtual worlds and for synthetic data generation for vision and robotics. To be most useful, such objects should be articulated: their parts should move when interacted with.…
We propose to investigate detecting and characterizing the 3D planar articulation of objects from ordinary videos. While seemingly easy for humans, this problem poses many challenges for computers. We propose to approach this problem by…
Geometrically accurate and semantically expressive map representations have proven invaluable for robot deployment and task planning in unknown environments. Nevertheless, real-time, open-vocabulary semantic understanding of large-scale…
3D modeling is shifting from static visual representations toward physical, articulated assets that can be directly used in simulation and interaction. However, most existing 3D generation methods overlook key physical and articulation…
Generating animated 3D objects is at the heart of many applications, yet most advanced works are typically difficult to apply in practice because of their limited setup, their long runtime, or their limited quality. We introduce ActionMesh,…
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…
Recent works on open-vocabulary 3D instance segmentation show strong promise, but at the cost of slow inference speed and high computation requirements. This high computation cost is typically due to their heavy reliance on 3D clip…
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…
Sequentially interacting with articulated objects is crucial for a mobile manipulator to operate effectively in everyday environments. To enable long-horizon tasks involving articulated objects, this study explores building scene-level…
Aggregating base elements into rigid objects such as furniture or sculptures is a great way for designers to convey a specific look and feel. Unfortunately, there is no existing solution to help model structurally sound aggregates. The…
Learning geometry, motion, and appearance priors of object classes is important for the solution of a large variety of computer vision problems. While the majority of approaches has focused on static objects, dynamic objects, especially…
Our work aims to reconstruct hand-held objects given a single RGB image. In contrast to prior works that typically assume known 3D templates and reduce the problem to 3D pose estimation, our work reconstructs generic hand-held object…
3D object reconstructions of transparent and concave structured objects, with inferred material properties, remains an open research problem for robot navigation in unstructured environments. In this paper, we propose a multimodal single-…
Open-vocabulary 3D object detection (OV-3DDet) aims to localize and recognize both seen and previously unseen object categories within any new 3D scene. While language and vision foundation models have achieved success in handling various…