Related papers: Procedural Generation of Articulated Simulation-Re…
A task-sequencing simulator in robotics manipulation to integrate simulation-for-learning and simulation-for-execution is introduced. Unlike existing machine-learning simulation where a non-decomposed simulation is used to simulate a…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
Robotic assembly is a longstanding challenge, requiring contact-rich interaction and high precision and accuracy. Many applications also require adaptivity to diverse parts, poses, and environments, as well as low cycle times. In other…
Developing comprehensive explicit world models is crucial for understanding and simulating real-world scenarios. Recently, Procedural Controllable Generation (PCG) has gained significant attention in large-scale scene generation by enabling…
Articulated objects pose diverse manipulation challenges for robots. Since their internal structures are not directly observable, robots must adaptively explore and refine actions to generate successful manipulation trajectories. While…
Imitation learning from a large set of human demonstrations has proved to be an effective paradigm for building capable robot agents. However, the demonstrations can be extremely costly and time-consuming to collect. We introduce MimicGen,…
While 3D generation is progressing rapidly, recent work has often focused on obtaining high-resolution assets, leaving user experience and deployability as afterthoughts. We present AssetGen, a 3D generator that focuses instead on these two…
3D Reconstruction of moving articulated objects without additional information about object structure is a challenging problem. Current methods overcome such challenges by employing category-specific skeletal models. Consequently, they do…
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 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…
Towards the aim of generalized robotic manipulation, spatial generalization is the most fundamental capability that requires the policy to work robustly under different spatial distribution of objects, environment and agent itself. To…
Reinforcement learning (RL) and sim-to-real transfer have advanced rigid-object manipulation. However, policies remain brittle for articulated mechanisms due to contact-rich dynamics that require both stable grasping and simultaneous free…
Embodied AI and robotic systems increasingly depend on scalable, diverse, and physically grounded 3D content for simulation-based training and real-world deployment. While 3D generative modeling has advanced rapidly, embodied applications…
The manipulation of articulated objects is of primary importance in Robotics, and can be considered as one of the most complex manipulation tasks. Traditionally, this problem has been tackled by developing ad-hoc approaches, which lack…
Simulation-driven development of intelligent machines benefits from artificial terrains with controllable, well-defined characteristics. However, most existing tools for terrain generation focus on artist-driven workflows and visual…
Large-scale robot datasets have facilitated the learning of a wide range of robot manipulation skills, but these datasets remain difficult to collect and scale further, owing to the intractable amount of human time, effort, and cost…
Interactive 3D scenes are increasingly vital for embodied intelligence, yet existing datasets remain limited due to the labor-intensive process of annotating part segmentation, kinematic types, and motion trajectories. We present REACT3D, a…
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…
Articulated objects and their representations pose a difficult problem for robots. These objects require not only representations of geometry and texture, but also of the various connections and joint parameters that make up each…
Most organisms including humans function by coordinating and integrating sensory signals with motor actions to survive and accomplish desired tasks. Learning these complex sensorimotor mappings proceeds simultaneously and often in an…