相关论文: Building 3D Object Models during Manipulation by R…

Learning effective multi-modal 3D representations of objects is essential for numerous applications, such as augmented reality and robotics. Existing methods often rely on task-specific embeddings that are tailored either for semantic…

Touch and vision go hand in hand, mutually enhancing our ability to understand the world. From a research perspective, the problem of mixing touch and vision is underexplored and presents interesting challenges. To this end, we propose…

3D shape reconstruction from a single image is a highly ill-posed problem. Modern deep learning based systems try to solve this problem by learning an end-to-end mapping from image to shape via a deep network. In this paper, we aim to solve…

We investigate data augmentation for 3D object detection in autonomous driving. We utilize recent advancements in 3D reconstruction based on Gaussian Splatting for 3D object placement in driving scenes. Unlike existing diffusion-based…

Instance segmentation is a fundamental skill for many robotic applications. We propose a self-supervised method that uses grasp interactions to collect segmentation supervision for an instance segmentation model. When a robot grasps an…

3D object reconstruction is important for semantic scene understanding. It is challenging to reconstruct detailed 3D shapes from monocular images directly due to a lack of depth information, occlusion and noise. Most current methods…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…

We address the task of simultaneous part-level reconstruction and motion parameter estimation for articulated objects. Given two sets of multi-view images of an object in two static articulation states, we decouple the movable part from the…

Recently, methods for neural surface representation and rendering, for example NeuS, have shown that learning neural implicit surfaces through volume rendering is becoming increasingly popular and making good progress. However, these…

We introduce Vysics, a vision-and-physics framework for a robot to build an expressive geometry and dynamics model of a single rigid body, using a seconds-long RGBD video and the robot's proprioception. While the computer vision community…

Reconstructing high-quality 3D objects from sparse, partial observations from a single view is of crucial importance for various applications in computer vision, robotics, and graphics. While recent neural implicit modeling methods show…

Autonomous systems need to understand the semantics and geometry of their surroundings in order to comprehend and safely execute object-level task specifications. This paper proposes an expressive yet compact model for joint object pose and…

We present a new learning-based framework S-3D-RCNN that can recover accurate object orientation in SO(3) and simultaneously predict implicit rigid shapes from stereo RGB images. For orientation estimation, in contrast to previous studies…

Current 6D object pose methods consist of deep CNN models fully optimized for a single object but with its architecture standardized among objects with different shapes. In contrast to previous works, we explicitly exploit each object's…

Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…

Tracking and reconstructing 3D objects from cluttered scenes are the key components for computer vision, robotics and autonomous driving systems. While recent progress in implicit function has shown encouraging results on high-quality 3D…

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…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…