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

In this work, we present a method for tracking and learning the dynamics of all objects in a large scale robot environment. A mobile robot patrols the environment and visits the different locations one by one. Movable objects are discovered…

Implicit neural representation has paved the way for new approaches to dynamic scene reconstruction and rendering. Nonetheless, cutting-edge dynamic neural rendering methods rely heavily on these implicit representations, which frequently…

Recent advancements in 3D reconstruction technologies have paved the way for high-quality and real-time rendering of complex 3D scenes. Despite these achievements, a notable challenge persists: it is difficult to precisely reconstruct…

Data acquisition through mobile phones remains a challenge for 3D Gaussian Splatting (3DGS). In this work we target the object-centered scenario and enable reliable mobile acquisition by providing on-device capture guidance and recording…

To reach human performance on complex tasks, a key ability for artificial systems is to understand physical interactions between objects, and predict future outcomes of a situation. This ability, often referred to as intuitive physics, has…

Humans learn to recognize and manipulate new objects in lifelong settings without forgetting the previously gained knowledge under non-stationary and sequential conditions. In autonomous systems, the agents also need to mitigate similar…

Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a…

In this paper, we investigate the problem of grasping novel objects in unstructured environments. To address this problem, consideration of the object geometry, reachability and force closure analysis are required. We propose a framework…

In this article, we study the problem of selecting a grasping pose on the surface of an object to be manipulated by considering three post-grasp objectives. These objectives include (i) kinematic manipulation capability, (ii) torque effort…

We propose a novel framework for 3D hand shape reconstruction and hand-object grasp optimization from a single RGB image. The representation of hand-object contact regions is critical for accurate reconstructions. Instead of approximating…

We study the problem of 3D object generation. We propose a novel framework, namely 3D Generative Adversarial Network (3D-GAN), which generates 3D objects from a probabilistic space by leveraging recent advances in volumetric convolutional…

Robotic manipulation in complex open-world scenarios requires both reliable physical manipulation skills and effective and generalizable perception. In this paper, we propose a method where general purpose pretrained visual models serve as…

Recent advances in Gaussian Splatting have enabled fast, high-fidelity 3D scene generation, yet these methods remain purely visual and lack an understanding of how shapes behave in the physical world. We introduce Physics-Guided 3D Gaussian…

Our method studies the complex task of object-centric 3D understanding from a single RGB-D observation. As it is an ill-posed problem, existing methods suffer from low performance for both 3D shape and 6D pose and size estimation in complex…

This paper propose a interactive 3D modeling method and corresponding system based on single or multiple uncalibrated images. The main feature of this method is that, according to the modeling habits of ordinary people, the 3D model of the…

We present a method to learn the 3D surface of objects directly from a collection of images. Previous work achieved this capability by exploiting additional manual annotation, such as object pose, 3D surface templates, temporal continuity…

Low-level 3D representations, such as point clouds, meshes, NeRFs and 3D Gaussians, are commonly used for modeling 3D objects and scenes. However, cognitive studies indicate that human perception operates at higher levels and interprets 3D…

Transient objects in video sequences can significantly degrade the quality of 3D scene reconstructions. To address this challenge, we propose T-3DGS, a novel framework that robustly filters out transient distractors during 3D reconstruction…

Robotic grasping traditionally relies on object features or shape information for learning new or applying already learned grasps. We argue however that such a strong reliance on object geometric information renders grasping and grasp…

3D Shape representation has substantial effects on 3D shape reconstruction. Primitive-based representations approximate a 3D shape mainly by a set of simple implicit primitives, but the low geometrical complexity of the primitives limits…