相关论文: Stroke-based Rendering and Planning for Robotic Pe…

To economically deploy robotic manipulators the programming and execution of robot motions must be swift. To this end, we propose a novel, constraint-based method to intuitively specify sequential manipulation tasks and to compute…

Constructing stroke correspondences between keyframes is one of the most important processes in the production pipeline of hand-drawn inbetweening frames. This process requires time-consuming manual work imposing a tremendous burden on the…

Rendering is the process of generating 2D images from 3D assets, simulated in a virtual environment, typically with a graphics pipeline. By inverting such renderer, one can think of a learning approach to predict a 3D shape from an input…

Many successful applications of computer vision to image or video manipulation are interactive by nature. However, parameters of such systems are often trained neglecting the user. Traditionally, interactive systems have been treated in the…

In this paper, we present a novel method of motion planning for performing complex manipulation tasks by using human demonstration and exploiting the screw geometry of motion. We consider complex manipulation tasks where there are…

Optimization-based trajectory generation methods are widely used in whole-body planning for robots. However, existing work either oversimplifies the robot's geometry and environment representation, resulting in a conservative trajectory, or…

Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…

We introduce a method for real-time navigation and tracking with differentiably rendered world models. Learning models for control has led to impressive results in robotics and computer games, but this success has yet to be extended to…

Robot motion planning is central to real-world autonomous applications, such as self-driving cars, persistence surveillance, and robotic arm manipulation. One challenge in motion planning is generating control signals for nonlinear systems…

We present STaR, a novel method that performs Self-supervised Tracking and Reconstruction of dynamic scenes with rigid motion from multi-view RGB videos without any manual annotation. Recent work has shown that neural networks are…

Sketch edit at stroke-level aims to transplant source strokes onto a target sketch via stroke expansion or replacement, while preserving semantic consistency and visual fidelity with the target sketch. Recent studies addressed it by…

Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…

3D task planning has attracted increasing attention in human-robot interaction and embodied AI thanks to the recent advances in multimodal learning. However, most existing studies are facing two common challenges: 1) heavy reliance on…

We present a novel freehand sketch beautification method, which takes as input a freely drawn sketch of a man-made object and automatically beautifies it both geometrically and structurally. Beautifying a sketch is challenging because of…

Articulated object recognition -- the task of identifying both the geometry and kinematic joints of objects with movable parts -- is essential for enabling robots to interact with everyday objects such as doors and laptops. However,…

Synthesizing photo-realistic images and videos is at the heart of computer graphics and has been the focus of decades of research. Traditionally, synthetic images of a scene are generated using rendering algorithms such as rasterization or…

Order diagrams are an important tool to visualize the complex structure of ordered sets. Favorable drawings of order diagrams, i.e., easily readable for humans, are hard to come by, even for small ordered sets. Many attempts were made to…

We propose SketchINR, to advance the representation of vector sketches with implicit neural models. A variable length vector sketch is compressed into a latent space of fixed dimension that implicitly encodes the underlying shape as a…

Robot design is a nontrivial process that involves careful consideration of multiple criteria, including user specifications, kinematic structures, and visual appearance. Therefore, the design process often relies heavily on domain…

Iteratively refining and critiquing sketches are crucial steps to developing effective designs. We introduce Scones, a mixed-initiative, machine-learning-driven system that enables users to iteratively author sketches from text…