相关论文: A Sketch-Based System for Human-Guided Constrained…

The rise of AR/VR has led to an increased demand for 3D content. However, the traditional method of creating 3D content using Computer-Aided Design (CAD) is a labor-intensive and skill-demanding process, making it difficult to use for…

Robots are often required to operate in environments where humans are not present, but yet require the human context information for better human-robot interaction. Even when humans are present in the environment, detecting their presence…

Object affordance is an important concept in hand-object interaction, providing information on action possibilities based on human motor capacity and objects' physical property thus benefiting tasks such as action anticipation and robot…

Purpose - The purpose of this paper is to present a CAD-based human-robot interface that allows non-expert users to teach a robot in a manner similar to that used by human beings to teach each other. Design/methodology/approach - Intuitive…

In the field of soft robotics, flexibility, adaptability, and functionality define a new era of robotic systems that can safely deform, reach, and grasp. To optimize the design of soft robotic systems, it is critical to understand their…

Affordance information about a scene provides important clues as to what actions may be executed in pursuit of meeting a specified goal state. Thus, integrating affordance-based reasoning into symbolic action plannning pipelines would…

Object affordance is an important concept in human-object interaction, providing information on action possibilities based on human motor capacity and objects' physical property thus benefiting tasks such as action anticipation and robot…

Generating high-quality 3D models from 2D sketches is a challenging task due to the inherent ambiguity and sparsity of sketch data. In this paper, we present S3D, a novel framework that converts simple hand-drawn sketches into detailed 3D…

This paper unravels the potential of sketches for diffusion models, addressing the deceptive promise of direct sketch control in generative AI. We importantly democratise the process, enabling amateur sketches to generate precise images,…

Learning to manipulate 3D objects in an interactive environment has been a challenging problem in Reinforcement Learning (RL). In particular, it is hard to train a policy that can generalize over objects with different semantic categories,…

The ability to deal with articulated objects is very important for robots assisting humans. In this work, a framework to robustly and adaptively operate common doors, using an autonomous mobile manipulator, is proposed. To push forward the…

Affordance detection is a challenging problem with a wide variety of robotic applications. Traditional affordance detection methods are limited to a predefined set of affordance labels, hence potentially restricting the adaptability of…

Designing 3D objects from scratch is difficult, especially when the user intent is fuzzy without a clear target form. In the spirit of modeling-by-example, we facilitate design by providing reference and inspiration from existing model…

We introduce a novel sketch-to-image tool that aligns with the iterative refinement process of artists. Our tool lets users sketch blocking strokes to coarsely represent the placement and form of objects and detail strokes to refine their…

Many robotic tasks in real-world environments require physical interactions with an object such as pick up or push. For successful interactions, the robot needs to know the object's affordances, which are defined as the potential actions…

Direct manipulation interfaces provide intuitive and interactive features to a broad range of users, but they often exhibit two limitations: the built-in features cannot possibly cover all use cases, and the internal representation of the…

Sketch-based shape modeling aims to bridge the gap between 2D drawing and 3D modeling by providing an intuitive and accessible approach to create 3D shapes from 2D sketches. However, existing methods still suffer from limitations in…

This paper presents ADAMANT, a set of software modules that provides grasp planning capabilities to an existing robot planning and control software framework. Our presented work allows a user to adapt a manipulation task to be used under…

3D model reconstruction from a single image has achieved great progress with the recent deep generative models. However, the conventional reconstruction approaches with template mesh deformation and implicit fields have difficulty in…

This paper develops a flexible and robust robotic system for autonomous drawing on 3D surfaces. The system takes 2D drawing strokes and a 3D target surface (mesh or point clouds) as input. It maps the 2D strokes onto the 3D surface and…