相关论文: Learning Visual Shape Control of Novel 3D Deformab…

Impressive progress in 3D shape extraction led to representations that can capture object geometries with high fidelity. In parallel, primitive-based methods seek to represent objects as semantically consistent part arrangements. However,…

Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…

In this paper, we revisit the classical representation of 3D point clouds as linear shape models. Our key insight is to leverage deep learning to represent a collection of shapes as affine transformations of low-dimensional linear shape…

Machines that can predict the effect of physical interactions on the dynamics of previously unseen object instances are important for creating better robots and interactive virtual worlds. In this work, we focus on predicting the dynamics…

With the field of rigid-body robotics having matured in the last fifty years, routing, planning, and manipulation of deformable objects have recently emerged as a more untouched research area in many fields ranging from surgical robotics to…

Humans can infer the three-dimensional structure of objects from two-dimensional visual inputs. Modeling this ability has been a longstanding goal for the science and engineering of visual intelligence, yet decades of computational methods…

We present a novel neural implicit shape method for partial point cloud completion. To that end, we combine a conditional Deep-SDF architecture with learned, adversarial shape priors. More specifically, our network converts partial inputs…

Volumetric image segmentation with convolutional neural networks (CNNs) encounters several challenges, which are specific to medical images. Among these challenges are large volumes of interest, high class imbalances, and difficulties in…

Learning 3D point sets with rotational invariance is an important and challenging problem in machine learning. Through rotational invariant architectures, 3D point cloud neural networks are relieved from requiring a canonical global pose…

Learning to autonomously assemble shapes is a crucial skill for many robotic applications. While the majority of existing part assembly methods focus on correctly posing semantic parts to recreate a whole object, we interpret assembly more…

Implicit surface representations, such as signed-distance functions, combined with deep learning have led to impressive models which can represent detailed shapes of objects with arbitrary topology. Since a continuous function is learned,…

Modeling object dynamics with a neural network is an important problem with numerous applications. Most recent work has been based on graph neural networks. However, physics happens in 3D space, where geometric information potentially plays…

Monocular 3D shape recovery is fundamental to geometric understanding, yet achieving robust generalization across arbitrary viewpoints and unseen object categories remains a significant challenge. In this paper, we present a generalizable…

We present a novel deep learning framework for flow field predictions in irregular domains when the solution is a function of the geometry of either the domain or objects inside the domain. Grid vertices in a computational fluid dynamics…

We tackle the problem of object-centric learning on point clouds, which is crucial for high-level relational reasoning and scalable machine intelligence. In particular, we introduce a framework, SPAIR3D, to factorize a 3D point cloud into a…

Reasoning over the interplay between object deformation and force transmission through contact is central to the manipulation of compliant objects. In this paper, we propose Neural Deforming Contact Field (NDCF), a representation that…

Recent research has seen numerous supervised learning-based methods for 3D shape segmentation and remarkable performance has been achieved on various benchmark datasets. These supervised methods require a large amount of annotated data to…

We address the problem of 3D shape completion from sparse and noisy point clouds, a fundamental problem in computer vision and robotics. Recent approaches are either data-driven or learning-based: Data-driven approaches rely on a shape…

How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…

We present a method that detects boundaries of parts in 3D shapes represented as point clouds. Our method is based on a graph convolutional network architecture that outputs a probability for a point to lie in an area that separates two or…