Related papers: Kinematic Kitbashing
We propose a novel method for large-scale image stitching that is robust against repetitive patterns and featureless regions in the imagery. In such cases, state-of-the-art image stitching methods easily produce image alignment artifacts,…
Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which…
Text-motion retrieval aims to learn a semantically aligned latent space between natural language descriptions and 3D human motion skeleton sequences, enabling bidirectional search across the two modalities. Most existing methods use a…
Recent advancements in implicit 3D reconstruction methods, e.g., neural rendering fields and Gaussian splatting, have primarily focused on novel view synthesis of static or dynamic objects with continuous motion states. However, these…
We present a new time integrator for articulated body dynamics. We formulate the governing equations of the dynamics using only the position variables and recast the position-based articulated dynamics as an optimization problem. Our…
While novel view synthesis for dynamic scenes has made significant progress, capturing skeleton models of objects and re-posing them remains a challenging task. To tackle this problem, in this paper, we propose a novel approach to…
Reconstructing 3D geometry and appearance from a sparse set of fixed cameras is a foundational task with broad applications, yet it remains fundamentally constrained by the limited viewpoints. We show that this bound can be broken by…
Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In this work, we introduce a novel superpoint-based perception…
3D characters are essential to modern creative industries, but making them animatable often demands extensive manual work in tasks like rigging and skinning. Existing automatic rigging tools face several limitations, including the necessity…
Researchers have identified various sources of tool positioning errors for articulated industrial robots and have proposed dedicated compensation strategies. However, these typically require individual, specialized experiments with separate…
Modeling 3D articulated objects with realistic geometry, textures, and kinematics is essential for a wide range of applications. However, existing optimization-based reconstruction methods often require dense multi-view inputs and expensive…
Kinematic rigs provide a structured interface for articulating 3D meshes but lack any associated pose space, i.e., an explicit representation of the plausible manifold of joint configurations for a given mesh. Without such a pose space,…
Recent advances in robotics and autonomous systems have broadened the use of robots in laboratory settings, including automated synthesis, scalable reaction workflows, and collaborative tasks in self-driving laboratories (SDLs). This paper…
In cardiac magnetic resonance (CMR) imaging, a 3D high-resolution segmentation of the heart is essential for detailed description of its anatomical structures. However, due to the limit of acquisition duration and respiratory/cardiac…
Given a point cloud, we consider inferring kinematic models of 3D articulated objects such as boxes for the purpose of manipulating them. While previous work has shown how to extract a planar kinematic model (often represented as a linear…
Assembling furniture amounts to solving the discrete-continuous optimization task of selecting the furniture parts to assemble and estimating their connecting poses in a physically realistic manner. The problem is hampered by its…
This research proposes a novel adjustable algorithm for reconstructing 3D body shapes from front and side silhouettes. Most recent silhouette-based approaches use a deep neural network trained by silhouettes and key points to estimate the…
Task-aware robotic grasping is a challenging problem that requires the integration of semantic understanding and geometric reasoning. This paper proposes a novel framework that leverages Large Language Models (LLMs) and Quality Diversity…
Surgical knot tying is one of the most fundamental and important procedures in surgery, and a high-quality knot can significantly benefit the postoperative recovery of the patient. However, a longtime operation may easily cause fatigue to…
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…