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3D articulated objects modeling has long been a challenging problem, since it requires to capture both accurate surface geometries and semantically meaningful and spatially precise structures, parts, and joints. Existing methods heavily…
Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…
We present a near real-time method for 6-DoF tracking of an unknown object from a monocular RGBD video sequence, while simultaneously performing neural 3D reconstruction of the object. Our method works for arbitrary rigid objects, even when…
The ability to generate diverse 3D articulated head avatars is vital to a plethora of applications, including augmented reality, cinematography, and education. Recent work on text-guided 3D object generation has shown great promise in…
Understanding the 3D motion of articulated objects is essential in robotic scene understanding, mobile manipulation, and motion planning. Prior methods for articulation estimation have primarily focused on controlled settings, assuming…
Unsupervised generation of clothed virtual humans with various appearance and animatable poses is important for creating 3D human avatars and other AR/VR applications. Existing methods are either limited to rigid object modeling, or not…
Object-centric reconstruction seeks to recover the 3D structure of a scene through composition of independent objects. While this independence can simplify modeling, it discards strong signals that could improve reconstruction, notably…
While NeRF-based 3D-aware image generation methods enable viewpoint control, limitations still remain to be adopted to various 3D applications. Due to their view-dependent and light-entangled volume representation, the 3D geometry presents…
3D models of manufactured objects are important for populating virtual worlds and for synthetic data generation for vision and robotics. To be most useful, such objects should be articulated: their parts should move when interacted with.…
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 introduce Infinigen-Articulated, a toolkit for generating realistic, procedurally generated articulated assets for robotics simulation. We include procedural generators for 18 common articulated object categories along with high-level…
Generating photorealistic images with controllable camera pose and scene contents is essential for many applications including AR/VR and simulation. Despite the fact that rapid progress has been made in 3D-aware generative models, most…
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…
Dynamic Neural Radiance Fields (NeRFs) achieve remarkable visual quality when synthesizing novel views of time-evolving 3D scenes. However, the common reliance on backward deformation fields makes reanimation of the captured object poses…
Recent Multi-Modal Large Language Models (MLLMs) have demonstrated strong capabilities in learning joint representations from text and images. However, their spatial reasoning remains limited. We introduce 3DFroMLLM, a novel framework that…
A main challenge in mechanical design is to efficiently explore the design space while satisfying engineering constraints. This work explores the use of 3D generative models to explore the design space in the context of vehicle development,…
Understanding and replicating the real world is a critical challenge in Artificial General Intelligence (AGI) research. To achieve this, many existing approaches, such as world models, aim to capture the fundamental principles governing the…
Simulation is essential for autonomous driving, yet current frameworks often model vehicles as rigid assets and fail to capture part-level articulation. With perception algorithms increasingly leveraging dynamics such as wheel steering or…
Diffusion models have shown remarkable results for image generation, editing and inpainting. Recent works explore diffusion models for 3D shape generation with neural implicit functions, i.e., signed distance function and occupancy…
Human-object interactions with articulated objects are common in everyday life. Despite much progress in single-view 3D reconstruction, it is still challenging to infer an articulated 3D object model from an RGB video showing a person…