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High-quality 3D garment reconstruction plays a crucial role in mitigating the sim-to-real gap in applications such as digital avatars, virtual try-on and robotic manipulation. However, existing garment reconstruction methods typically rely…
Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment flexible rack actuated planar robot. However, the compliance…
Realistic animatable human avatars from monocular videos are crucial for advancing human-robot interaction and enhancing immersive virtual experiences. While recent research on 3DGS-based human avatars has made progress, it still struggles…
Recent methods for arbitrary-skeleton motion capture from monocular video follow a factorized pipeline, where a Video-to-Pose network predicts joint positions and an analytical inverse-kinematics (IK) stage recovers joint rotations. While…
We introduce Patchwork, a new general-purpose shape representation capable of modeling 2D and 3D geometry with a small number of parameters. Patchwork is grounded in a rigorous mathematical framework, providing provable complexity bounds…
Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria…
The increasing demand for augmented reality and robotics is driving the need for articulated object reconstruction with high scalability. However, existing settings for reconstructing from discrete articulation states or casual monocular…
Neural reconstruction models for autonomous driving simulation have made significant strides in recent years, with dynamic models becoming increasingly prevalent. However, these models are typically limited to handling in-domain objects…
Skeleton-based and cage-based deformation techniques represent the two most popular approaches to control real-time deformations of digital shapes and are, to a vast extent, complementary to one another. Despite their complementary roles,…
Accurate and scalable quantification of animal pose and appearance is crucial for studying behavior. Current 3D pose estimation techniques, such as keypoint- and mesh-based techniques, often face challenges including limited…
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,…
Current 3D-aware pretraining methods for embodied perception and manipulation are largely built on differentiable rendering frameworks, producing either fully implicit neural fields or fully explicit geometric primitives. Implicit…
We propose to investigate detecting and characterizing the 3D planar articulation of objects from ordinary videos. While seemingly easy for humans, this problem poses many challenges for computers. We propose to approach this problem by…
Learning-based 3D object reconstruction enables single- or few-shot estimation of 3D object models. For robotics, this holds the potential to allow model-based methods to rapidly adapt to novel objects and scenes. Existing 3D reconstruction…
Furniture assembly is a crucial yet challenging task for robots, requiring precise dual-arm coordination where one arm manipulates parts while the other provides collaborative support and stabilization. To accomplish this task more…
Audio-driven 3D facial animation aims to map input audio to realistic facial motion. Despite significant progress, limitations arise from inconsistent 3D annotations, restricting previous models to training on specific annotations and…
Text-guided 3D editing aims to modify existing 3D assets using natural-language instructions. Current methods struggle to jointly understand complex prompts, automatically localize edits in 3D, and preserve unedited content. We introduce…
With the increasing demand for real-time animated 3D content in the entertainment industry and beyond, performance-based animation has garnered interest among both academic and industrial communities. While recent solutions for…
Rendering is the process of generating 2D images from 3D assets, simulated in a virtual environment, typically with a graphics pipeline. By inverting such renderer, one can think of a learning approach to predict a 3D shape from an input…
The ability to accurately reconstruct the 3D facets of a scene is one of the key problems in robotic vision. However, even with recent advances with machine learning, there is no high-fidelity universal 3D reconstruction method for this…