相关论文: FlowBot3D: Learning 3D Articulation Flow to Manipu…

This paper focuses on the challenging problem of 3D pose estimation of a diverse spectrum of articulated objects from single depth images. A novel structured prediction approach is considered, where 3D poses are represented as skeletal…

Humans possess an exceptional ability to imagine 4D scenes, encompassing both motion and 3D geometry, from a single still image. This ability is rooted in our accumulated observations of similar scenes and an intuitive understanding of…

3D articulated objects are inherently challenging for manipulation due to the varied geometries and intricate functionalities associated with articulated objects.Point-level affordance, which predicts the per-point actionable score and thus…

We consider the problem of predicting the 3D shape, articulation, viewpoint, texture, and lighting of an articulated animal like a horse given a single test image as input. We present a new method, dubbed MagicPony, that learns this…

A key challenge in scaling up robot learning to many skills and environments is removing the need for human supervision, so that robots can collect their own data and improve their own performance without being limited by the cost of…

Articulated object generation has seen increasing advancements, yet existing models often lack the ability to be conditioned on text prompts. To address the significant gap between textual descriptions and 3D articulated object…

3D articulated objects modeling has long been a challenging problem, since it requires to capture both accurate surface geometries and semantically meaningful and spatially precise structures, parts, and joints. Existing methods heavily…

This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…

We propose a novel unsupervised method to learn the pose and part-segmentation of articulated objects with rigid parts. Given two observations of an object in different articulation states, our method learns the geometry and appearance of…

Most end-to-end Multi-Object Tracking (MOT) methods face the problems of low accuracy and poor generalization ability. Although traditional filter-based methods can achieve better results, they are difficult to be endowed with optimal…

We propose a new dataset and a novel approach to learning hand-object interaction priors for hand and articulated object pose estimation. We first collect a dataset using visual teleoperation, where the human operator can directly play…

In this work, we present LaserFlow, an efficient method for 3D object detection and motion forecasting from LiDAR. Unlike the previous work, our approach utilizes the native range view representation of the LiDAR, which enables our method…

Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…

We propose Neural 3D Articulation Prior (NAP), the first 3D deep generative model to synthesize 3D articulated object models. Despite the extensive research on generating 3D objects, compositions, or scenes, there remains a lack of focus on…

We present a novel approach to interactive 3D object perception for robots. Unlike previous perception algorithms that rely on known object models or a large amount of annotated training data, we propose a poking-based approach that…

While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…

Future robots are envisioned as versatile systems capable of performing a variety of household tasks. The big question remains, how can we bridge the embodiment gap while minimizing physical robot learning, which fundamentally does not…

To enable general-purpose robots, we will require the robot to operate daily articulated objects as humans do. Current robot manipulation has heavily relied on using a parallel gripper, which restricts the robot to a limited set of objects.…

Deformable object manipulation presents a unique set of challenges in robotic manipulation by exhibiting high degrees of freedom and severe self-occlusion. State representation for materials that exhibit plastic behavior, like modeling clay…

Humans are adept at learning new tasks by watching a few instructional videos. On the other hand, robots that learn new actions either require a lot of effort through trial and error, or use expert demonstrations that are challenging to…