Related papers: ART: Articulated Reconstruction Transformer
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…
Structured reconstruction is a non-trivial dense prediction problem, which extracts structural information (\eg, building corners and edges) from a raster image, then reconstructs it to a 2D planar graph accordingly. Compared with common…
Interactive 3D scenes are increasingly vital for embodied intelligence, yet existing datasets remain limited due to the labor-intensive process of annotating part segmentation, kinematic types, and motion trajectories. We present REACT3D, a…
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…
Articulated 3D objects are central to many applications in robotics, AR/VR, and animation. Recent approaches to modeling such objects either rely on optimization-based reconstruction pipelines that require dense-view supervision or on…
Building digital twins of articulated objects from monocular video presents an essential challenge in computer vision, which requires simultaneous reconstruction of object geometry, part segmentation, and articulation parameters from…
Generalizable neural surface reconstruction techniques have attracted great attention in recent years. However, they encounter limitations of low confidence depth distribution and inaccurate surface reasoning due to the oversimplified…
Recent work has made significant progress on using implicit functions, as a continuous representation for 3D rigid object shape reconstruction. However, much less effort has been devoted to modeling general articulated objects. Compared to…
Learning geometry, motion, and appearance priors of object classes is important for the solution of a large variety of computer vision problems. While the majority of approaches has focused on static objects, dynamic objects, especially…
Articulation modeling aims to infer movable parts and their motion parameters for a 3D object, enabling interactive animation, simulation, and shape editing. In this paper, we present Sketch2Arti, the first sketch-based articulation…
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…
Articulated objects are common in the real world, yet modeling their structure and motion remains a challenging task for 3D reconstruction methods. In this work, we introduce Part$^{2}$GS, a novel framework for modeling articulated digital…
In this paper, we address the challenge of reconstructing general articulated 3D objects from a single video. Existing works employing dynamic neural radiance fields have advanced the modeling of articulated objects like humans and animals…
A compositional understanding of the world in terms of objects and their geometry in 3D space is considered a cornerstone of human cognition. Facilitating the learning of such a representation in neural networks holds promise for…
Articulated objects are ubiquitous and important in robotics, AR/VR, and digital twins. Most self-supervised methods for articulated object modeling reconstruct discrete interaction states and relate them via cross-state geometric…
We present Artiverse, a diverse and physically grounded dataset of high-quality articulated 3D objects designed for realistic functional modeling and simulation. Artiverse contains 5.4K human-authored objects across a broad range of 88…
Recent image-to-3D reconstruction models have greatly advanced geometry generation, but they still struggle to faithfully generate realistic appearance. To address this, we introduce ARM, a novel method that reconstructs high-quality 3D…
Articulated objects, such as laptops and drawers, exhibit significant challenges for 3D reconstruction and pose estimation due to their multi-part geometries and variable joint configurations, which introduce structural diversity across…
Reconstructing 3D clothed humans from monocular camera data is highly challenging due to viewpoint limitations and image ambiguity. While implicit function-based approaches, combined with prior knowledge from parametric models, have made…
Articulated objects are pervasive in daily life. However, due to the intrinsic high-DoF structure, the joint states of the articulated objects are hard to be estimated. To model articulated objects, two kinds of shape deformations namely…