Related papers: Orientation Matters: Making 3D Generative Models O…

We present a deep generative scene modeling technique for indoor environments. Our goal is to train a generative model using a feed-forward neural network that maps a prior distribution (e.g., a normal distribution) to the distribution of…

Object-level mapping builds a 3D map of objects in a scene with detailed shapes and poses from multi-view sensor observations. Conventional methods struggle to build complete shapes and estimate accurate poses due to partial occlusions and…

3D object-level mapping is a fundamental problem in robotics, which is especially challenging when object CAD models are unavailable during inference. In this work, we propose a framework that can reconstruct high-quality object-level maps…

Prior methods that tackle the problem of generalizable object pose estimation highly rely on having dense views of the unseen object. By contrast, we address the scenario where only a single reference view of the object is available. Our…

We are interested in learning visual representations which allow for 3D manipulations of visual objects based on a single 2D image. We cast this into an image-to-image transformation task, and propose Iterative Generative Adversarial…

Deep learning approaches to object detection have achieved reliable detection of specific object classes in images. However, extending a model's detection capability to new object classes requires large amounts of annotated training data,…

Category-level 3D pose estimation is a fundamentally important problem in computer vision and robotics, e.g. for embodied agents or to train 3D generative models. However, so far methods that estimate the category-level object pose require…

Accurately predicting 3D occupancy grids from visual inputs is critical for autonomous driving, but current discriminative methods struggle with noisy data, incomplete observations, and the complex structures inherent in 3D scenes. In this…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

In recent years, 3D generation has made great strides in both academia and industry. However, generating 3D scenes from a single RGB image remains a significant challenge, as current approaches often struggle to ensure both object…

We propose Neural 3D Articulation Prior (NAP), the first 3D deep generative model to synthesize 3D articulated object models. Despite the extensive research on generating 3D objects, compositions, or scenes, there remains a lack of focus on…

Deep generative models seek to recover the process with which the observed data was generated. They may be used to synthesize new samples or to subsequently extract representations. Successful approaches in the domain of images are driven…

This paper introduces a tuning-free method for both object insertion and subject-driven generation. The task involves composing an object, given multiple views, into a scene specified by either an image or text. Existing methods struggle to…

Generative video modeling has emerged as a compelling tool to zero-shot reason about plausible physical interactions for open-world manipulation. Yet, it remains a challenge to translate such human-led motions into the low-level actions…

Most 3D object generators prioritize aesthetic quality, often neglecting the physical constraints necessary for practical applications. One such constraint is that a 3D object should be self-supporting, i.e., remain balanced under gravity.…

We train generative 'up-convolutional' neural networks which are able to generate images of objects given object style, viewpoint, and color. We train the networks on rendered 3D models of chairs, tables, and cars. Our experiments show that…

Can objects that are not visible in an image -- but are in the vicinity of the camera -- be detected? This study introduces the novel tasks of 2D, 2.5D and 3D unobserved object detection for predicting the location of nearby objects that…

Recent advancements in generative models have enabled the creation of dynamic 4D content - 3D objects in motion - based on text prompts, which holds potential for applications in virtual worlds, media, and gaming. Existing methods provide…

Grounding object affordance is fundamental to robotic manipulation as it establishes the critical link between perception and action among interacting objects. However, prior works predominantly focus on predicting single-object affordance,…

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…