Related papers: ArtiWorld: LLM-Driven Articulation of 3D Objects i…
We introduce the Universal Manipulation Policy Network (UMPNet) -- a single image-based policy network that infers closed-loop action sequences for manipulating arbitrary articulated objects. To infer a wide range of action trajectories,…
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…
Reconstructing articulated objects into high-fidelity digital twins is crucial for applications such as robotic manipulation and interactive simulation. Recent self-supervised methods using differentiable rendering frameworks like 3D…
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…
Prompt-driven scene synthesis allows users to generate complete 3D environments from textual descriptions. Current text-to-scene methods often struggle with complex geometries and object transformations, and tend to show weak adherence to…
This work presents IAAO, a novel framework that builds an explicit 3D model for intelligent agents to gain understanding of articulated objects in their environment through interaction. Unlike prior methods that rely on task-specific…
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…
Perceiving and manipulating 3D articulated objects in diverse environments is essential for home-assistant robots. Recent studies have shown that point-level affordance provides actionable priors for downstream manipulation tasks. However,…
Constructing photorealistic virtual worlds has applications across various fields, but it often requires the extensive labor of highly trained professionals to operate conventional 3D modeling software. To democratize this process, we…
Robots working in human environments must be able to perceive and act on challenging objects with articulations, such as a pile of tools. Articulated objects increase the dimensionality of the pose estimation problem, and partial…
Workflow support typically focuses on single simulation experiments. This is also the case for simulation based on finite element methods. If entire simulation studies shall be supported, flexible means for intertwining revising the model,…
Generating realistic 3D indoor scenes from user inputs remains a challenging problem in computer vision and graphics, requiring careful balance of geometric consistency, spatial relationships, and visual realism. While neural generation…
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…
A 3D scene graph represents a compact scene model by capturing both the objects present and the semantic relationships between them, making it a promising structure for robotic applications. To effectively interact with users, an embodied…
3D modeling of articulated objects is a research problem within computer vision, graphics, and robotics. Its objective is to understand the shape and motion of the articulated components, represent the geometry and mobility of object parts,…
Animating an object in 3D often requires an articulated structure, e.g. a kinematic chain or skeleton of the manipulated object with proper skinning weights, to obtain smooth movements and surface deformations. However, existing models that…
Accurately simulating real world object dynamics is essential for various applications such as robotics, engineering, graphics, and design. To better capture complex real dynamics such as contact and friction, learned simulators based on…
Designing physical artifacts that serve a purpose - such as tools and other functional structures - is central to engineering as well as everyday human behavior. Though automating design has tremendous promise, general-purpose methods do…
High-quality articulated 3D assets are indispensable for embodied AI and physical simulation, yet 3D generation still focuses on static meshes, leaving a gap in "sim-ready" interactive objects. Most recent articulated object creation…
Simulating large scenes with many rigid objects is crucial for a variety of applications, such as robotics, engineering, film and video games. Rigid interactions are notoriously hard to model: small changes to the initial state or the…