相关论文: AKB-48: A Real-World Articulated Object Knowledge …
Autonomous manipulation of articulated objects remains a fundamental challenge for robots in human environments. Vision-based methods can infer hidden kinematics but can yield imprecise estimates on unfamiliar objects. Tactile approaches…
Articulated object manipulation requires precise object interaction, where the object's axis must be carefully considered. Previous research employed interactive perception for manipulating articulated objects, but typically, open-loop…
Multisensory object-centric perception, reasoning, and interaction have been a key research topic in recent years. However, the progress in these directions is limited by the small set of objects available -- synthetic objects are not…
We humans rely on a wide range of commonsense knowledge to interact with an extensive number and categories of objects in the physical world. Likewise, such commonsense knowledge is also crucial for robots to successfully develop…
Traditional approaches for manipulation planning rely on an explicit geometric model of the environment to formulate a given task as an optimization problem. However, inferring an accurate model from raw sensor input is a hard problem in…
Manipulating unseen articulated objects through visual feedback is a critical but challenging task for real robots. Existing learning-based solutions mainly focus on visual affordance learning or other pre-trained visual models to guide…
Articulated objects and their representations pose a difficult problem for robots. These objects require not only representations of geometry and texture, but also of the various connections and joint parameters that make up each…
Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab settings, and prior mobile manipulation work is restricted to…
This paper introduces MatKG, a novel graph database of key concepts in material science spanning the traditional material-structure-property-processing paradigm. MatKG is autonomously generated through transformer-based, large language…
We present a new public dataset with a focus on simulating robotic vision tasks in everyday indoor environments using real imagery. The dataset includes 20,000+ RGB-D images and 50,000+ 2D bounding boxes of object instances densely captured…
Category-level articulated object pose estimation focuses on the pose estimation of unknown articulated objects within known categories. Despite its significance, this task remains challenging due to the varying shapes and poses of objects,…
Recent work has made significant progress on using implicit functions, as a continuous representation for 3D rigid object shape reconstruction. However, much less effort has been devoted to modeling general articulated objects. Compared to…
Our work aims to reconstruct hand-held objects given a single RGB image. In contrast to prior works that typically assume known 3D templates and reduce the problem to 3D pose estimation, our work reconstructs generic hand-held object…
Sequentially interacting with articulated objects is crucial for a mobile manipulator to operate effectively in everyday environments. To enable long-horizon tasks involving articulated objects, this study explores building scene-level…
We introduce the Universal Manipulation Policy Network (UMPNet) -- a single image-based policy network that infers closed-loop action sequences for manipulating arbitrary articulated objects. To infer a wide range of action trajectories,…
Although commercial and open-source software exist to reconstruct a static object from a sequence recorded with an RGB-D sensor, there is a lack of tools that build rigged models of articulated objects that deform realistically and can be…
Open-vocabulary object perception has become an important topic in artificial intelligence, which aims to identify objects with novel classes that have not been seen during training. Under this setting, open-vocabulary object detection…
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…
The world is filled with articulated objects that are difficult to determine how to use from vision alone, e.g., a door might open inwards or outwards. Humans handle these objects with strategic trial-and-error: first pushing a door then…
Detecting 3D objects keypoints is of great interest to the areas of both graphics and computer vision. There have been several 2D and 3D keypoint datasets aiming to address this problem in a data-driven way. These datasets, however, either…