Related papers: "Stack It Up!": 3D Stable Structure Generation fro…

Doodling is a useful and common intelligent skill that people can learn and master. In this work, we propose a two-stage learning framework to teach a machine to doodle in a simulated painting environment via Stroke Demonstration and deep…

Physical intuition is pivotal for intelligent agents to perform complex tasks. In this paper we investigate the passive acquisition of an intuitive understanding of physical principles as well as the active utilisation of this intuition in…

3D human pose estimation from sketches has broad applications in computer animation and film production. Unlike traditional human pose estimation, this task presents unique challenges due to the abstract and disproportionate nature of…

Saddle fixed points are the centerpieces of complicated dynamics in a system. The one-dimensional stable and unstable manifolds of these saddle-points are crucial to understanding the dynamics of such systems. While the problem of sketching…

Modeling and capturing the 3D spatial arrangement of the human and the object is the key to perceiving 3D human-object interaction from monocular images. In this work, we propose to use the Human-Object Offset between anchors which are…

Intuitive user interfaces are indispensable to interact with the human centric smart environments. In this paper, we propose a unified framework that recognizes both static and dynamic gestures, using simple RGB vision (without depth…

Hatching is a common method used by artists to accentuate the third dimension of a sketch, and to illuminate the scene. Our system SHAD3S attempts to compete with a human at hatching generic three-dimensional (3D) shapes, and also tries to…

This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on the contact surface and applying a desired grasping force to…

Sketch animations offer a powerful medium for visual storytelling, from simple flip-book doodles to professional studio productions. While traditional animation requires teams of skilled artists to draw key frames and in-between frames,…

This paper presents visual and 3D structure inspection for steel structures and bridges using a developed climbing robot. The robot can move freely on a steel surface, carry sensors, collect data and then send to the ground station in real…

Diagrammatic Teaching is a paradigm for robots to acquire novel skills, whereby the user provides 2D sketches over images of the scene to shape the robot's motion. In this work, we tackle the problem of teaching a robot to approach a…

This paper presents Text2Structure3D, a graph-based Machine Learning (ML) model that generates equilibrium structures from natural language prompts. Text2Structure3D is designed to support new intuitive ways of design exploration and…

Creating physically realistic content in VR often requires complex modeling tools or predefined 3D models, textures, and animations, which present significant barriers for non-expert users. In this paper, we propose SketchPlay, a novel VR…

Nowadays, it is possible to scan faces and automatically register them with high quality. However, the resulting face meshes often need further processing: we need to stabilize them to remove unwanted head movement. Stabilization is…

Precise perception of contact interactions is essential for fine-grained manipulation skills for robots. In this paper, we present the design of feedback skills for robots that must learn to stack complex-shaped objects on top of each other…

Designing 3D objects from scratch is difficult, especially when the user intent is fuzzy without a clear target form. In the spirit of modeling-by-example, we facilitate design by providing reference and inspiration from existing model…

Although recent advancements in diffusion models have significantly enriched the quality of generated images, challenges remain in synthesizing pixel-based human-drawn sketches, a representative example of abstract expression. To combat…

Sketches are the most abstract 2D representations of real-world objects. Although a sketch usually has geometrical distortion and lacks visual cues, humans can effortlessly envision a 3D object from it. This suggests that sketches encode…

Generating high-fidelity, physically interactive 3D simulated tabletop scenes is essential for embodied AI -- especially for robotic manipulation policy learning and data synthesis. However, current text- or image-driven 3D scene generation…

Robots operating in unstructured environments often require accurate and consistent object-level representations. This typically requires segmenting individual objects from the robot's surroundings. While recent large models such as Segment…