Related papers: Guiding Diffusion-Based Articulated Object Generat…

Curved objects pose a fundamental challenge for skill transfer in robotics: unlike planar surfaces, they do not admit a global reference frame. As a result, task-relevant directions such as "toward" or "along" the surface vary with position…

Diffusion models are known for generating high-quality images, causing serious security concerns. To combat this, most efforts rely on deep neural networks (e.g., CNNs and Transformers), while largely overlooking the potential of…

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…

We build rearticulable models for arbitrary everyday man-made objects containing an arbitrary number of parts that are connected together in arbitrary ways via 1 degree-of-freedom joints. Given point cloud videos of such everyday objects,…

3D world models (i.e., learning-based 3D dynamics models) offer a promising approach to generalizable robotic manipulation by capturing the underlying physics of environment evolution conditioned on robot actions. However, existing 3D world…

3D object detection is a fundamental task in scene understanding. Numerous research efforts have been dedicated to better incorporate Hough voting into the 3D object detection pipeline. However, due to the noisy, cluttered, and partial…

LiDAR perception is severely limited by the distance-dependent sparsity of distant objects. While diffusion models can recover dense geometry, they suffer from prohibitive latency and physical hallucinations manifesting as ghost points. We…

Accurate 3D aortic construction is crucial for clinical diagnosis, preoperative planning, and computational fluid dynamics (CFD) simulations, as it enables the estimation of critical hemodynamic parameters such as blood flow velocity,…

Robots working in human environments often encounter a wide range of articulated objects, such as tools, cabinets, and other jointed objects. Such articulated objects can take an infinite number of possible poses, as a point in a…

Automotive radar has shown promising developments in environment perception due to its cost-effectiveness and robustness in adverse weather conditions. However, the limited availability of annotated radar data poses a significant challenge…

3D object generation from a single image involves estimating the full 3D geometry and texture of unseen views from an unposed RGB image captured in the wild. Accurately reconstructing an object's complete 3D structure and texture has…

Cloth manipulation is challenging due to its highly complex dynamics, near-infinite degrees of freedom, and frequent self-occlusions, which complicate both state estimation and dynamics modeling. Inspired by recent advances in generative…

3D generative models have been recently successful in generating realistic 3D objects in the form of point clouds. However, most models do not offer controllability to manipulate the shape semantics of component object parts without…

Diffusion models have shown remarkable results for image generation, editing and inpainting. Recent works explore diffusion models for 3D shape generation with neural implicit functions, i.e., signed distance function and occupancy…

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,…

Current Structure-from-Motion (SfM) methods typically follow a two-stage pipeline, combining learned or geometric pairwise reasoning with a subsequent global optimization step. In contrast, we propose a data-driven multi-view reasoning…

Diffusion models have demonstrated excellent performance in image generation. Although various few-shot semantic segmentation (FSS) models with different network structures have been proposed, performance improvement has reached a…

Diffusion models when conditioned on text prompts, generate realistic-looking images with intricate details. But most of these pre-trained models fail to generate accurate images when it comes to human features like hands, teeth, etc. We…

Our team of artists and machine learning researchers designed a creative algorithm that can generate authentic sculptural artworks. These artworks do not mimic any given forms and cannot be easily categorized into the dataset categories.…

We propose a method to generate 3D shapes using point clouds. Given a point-cloud representation of a 3D shape, our method builds a kd-tree to spatially partition the points. This orders them consistently across all shapes, resulting in…