Related papers: Kinematic Kitbashing
Shape assembly composes complex shapes geometries by arranging simple part geometries and has wide applications in autonomous robotic assembly and CAD modeling. Existing works focus on geometry reasoning and neglect the actual physical…
In this paper, we propose an adaptive keyframe selection method for improved 3D scene reconstruction in dynamic environments. The proposed method integrates two complementary modules: an error-based selection module utilizing photometric…
Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…
Reconstructing articulated objects is essential for building digital twins of interactive environments. However, prior methods typically decouple geometry and motion by first reconstructing object shape in distinct states and then…
We propose ArtiLatent, a generative framework that synthesizes human-made 3D objects with fine-grained geometry, accurate articulation, and realistic appearance. Our approach jointly models part geometry and articulation dynamics by…
We address the problem of unsupervised learning of complex articulated object models from 3D range data. We describe an algorithm whose input is a set of meshes corresponding to different configurations of an articulated object. The…
Generalizable articulated object manipulation is essential for home-assistant robots. Recent efforts focus on imitation learning from demonstrations or reinforcement learning in simulation, however, due to the prohibitive costs of…
This paper presents a kinematic definition of a serialized Stewart platform designed for autonomous in-space assembly called an Assembler. The Assemblers architecture describes problems inherent to the inverse kinematics of over-actuated…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typically parametrized by joint angles, generating a complicated…
Next generation robots will need to understand intricate and articulated objects as they cooperate in human environments. To do so, these robots will need to move beyond their current abilities--- working with relatively simple objects in a…
Generating articulated objects, such as laptops and microwaves, is a crucial yet challenging task with extensive applications in Embodied AI and AR/VR. Current image-to-3D methods primarily focus on surface geometry and texture, neglecting…
We address the challenge of generating 3D articulated objects in a controllable fashion. Currently, modeling articulated 3D objects is either achieved through laborious manual authoring, or using methods from prior work that are hard to…
We consider the problem of estimating a parametric model of 3D human mesh from a single image. While there has been substantial recent progress in this area with direct regression of model parameters, these methods only implicitly exploit…
Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…
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 challenge of creating 3D assets for household articulated objects from a single image. Prior work on articulated object creation either requires multi-view multi-state input, or only allows coarse control over the generation…
Automated assembly of 3D fractures is essential in orthopedics, archaeology, and our daily life. This paper presents Jigsaw, a novel framework for assembling physically broken 3D objects from multiple pieces. Our approach leverages…
This work casts the kinodynamic planning problem for car-like vehicles as an optimization task to compute a minimum-time trajectory and its associated velocity profile, subject to boundary conditions on velocity, acceleration, and steering.…
Metaheuristic algorithms, widely used for solving complex non-convex and non-differentiable optimization problems, often lack a solid mathematical foundation. In this review, we explore how concepts and methods from kinetic theory can offer…