Related papers: DreamArt: Generating Interactable Articulated Obje…

Building interactive simulators and scalable robot-learning environments requires a large number of articulated assets. However, most existing 3D assets in simulation are rigid, and manually converting them into articulated objects is…

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…

Text- or image-to-3D generators and 3D scanners can now produce 3D assets with high-quality shapes and textures. These assets typically consist of a single, fused representation, like an implicit neural field, a Gaussian mixture, or a mesh,…

We present DreamHuman, a method to generate realistic animatable 3D human avatar models solely from textual descriptions. Recent text-to-3D methods have made considerable strides in generation, but are still lacking in important aspects.…

Representing articulated objects remains a difficult problem within the field of robotics. Objects such as pliers, clamps, or cabinets require representations that capture not only geometry and color information, but also part seperation,…

Recent breakthroughs in 3D generation have enabled the synthesis of high-fidelity individual assets. However, generating 3D compositional objects from single images--particularly under occlusions--remains challenging. Existing methods often…

We introduce an active 3D reconstruction method which integrates visual perception, robot-object interaction, and 3D scanning to recover both the exterior and interior, i.e., unexposed, geometries of a target 3D object. Unlike other works…

Creating realistic virtual assets is a time-consuming process: it usually involves an artist designing the object, then spending a lot of effort on tweaking its appearance. Intricate details and certain effects, such as subsurface…

This paper presents a novel framework for modeling and conditional generation of 3D articulated objects. Troubled by flexibility-quality tradeoffs, existing methods are often limited to using predefined structures or retrieving shapes from…

3D assets are essential in the digital age. While automatic 3D generation, such as image-to-3d, has made significant strides in recent years, it often struggles to achieve fast, detailed, and high-fidelity generation simultaneously. In this…

Articulated objects are pervasive in daily environments, such as drawers and refrigerators. Towards their part-level surface reconstruction and joint parameter estimation, REArtGS introduces a category-agnostic approach using multi-view RGB…

We present a novel framework for generating high-quality, animatable 4D avatar from a single image. While recent advances have shown promising results in 4D avatar creation, existing methods either require extensive multiview data or…

Large-scale articulated objects with high quality are desperately needed for multiple tasks related to embodied AI. Most existing methods for creating articulated objects are either data-driven or simulation based, which are limited by the…

We address the problem of building digital twins of unknown articulated objects from two RGBD scans of the object at different articulation states. We decompose the problem into two stages, each addressing distinct aspects. Our method first…

We tackle the challenge of concurrent reconstruction at the part level with the RGB appearance and estimation of motion parameters for building digital twins of articulated objects using the 3D Gaussian Splatting (3D-GS) method. With two…

3D articulated objects modeling has long been a challenging problem, since it requires to capture both accurate surface geometries and semantically meaningful and spatially precise structures, parts, and joints. Existing methods heavily…

We propose an end-to-end trainable, cross-category method for reconstructing multiple man-made articulated objects from a single RGBD image, focusing on part-level shape reconstruction and pose and kinematics estimation. We depart from…

3D modeling of articulated objects is a research problem within computer vision, graphics, and robotics. Its objective is to understand the shape and motion of the articulated components, represent the geometry and mobility of object parts,…

We present DIPO, a novel framework for the controllable generation of articulated 3D objects from a pair of images: one depicting the object in a resting state and the other in an articulated state. Compared to the single-image approach,…

Reconstructing real-world objects and estimating their movable joint structures are pivotal technologies within the field of robotics. Previous research has predominantly focused on supervised approaches, relying on extensively annotated…