相关论文: Ditto in the House: Building Articulation Models o…
Humans use semantic concepts such as spatial relations between objects to describe scenes and communicate tasks such as "Put the tea to the right of the cup" or "Move the plate between the fork and the spoon." Just as children, assistive…
This work presents IAAO, a novel framework that builds an explicit 3D model for intelligent agents to gain understanding of articulated objects in their environment through interaction. Unlike prior methods that rely on task-specific…
In order for robots to operate effectively in homes and workplaces, they must be able to manipulate the articulated objects common within environments built for and by humans. Previous work learns kinematic models that prescribe this…
We propose ArtiLatent, a generative framework that synthesizes human-made 3D objects with fine-grained geometry, accurate articulation, and realistic appearance. Our approach jointly models part geometry and articulation dynamics by…
Assistive robots operating in household environments would require items to be available in the house to perform assistive tasks. However, when these items run out, the assistive robot must remind its user to buy the missing items. In this…
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…
Articulated object manipulation is a critical capability for robots to perform various tasks in real-world scenarios. Composed of multiple parts connected by joints, articulated objects are endowed with diverse functional mechanisms through…
Given a point cloud, we consider inferring kinematic models of 3D articulated objects such as boxes for the purpose of manipulating them. While previous work has shown how to extract a planar kinematic model (often represented as a linear…
Remotely programming robots to execute tasks often relies on registering objects of interest in the robot's environment. Frequently, these tasks involve articulating objects such as opening or closing a valve. However, existing…
People often use physical intuition when manipulating articulated objects, irrespective of object semantics. Motivated by this observation, we identify an important embodied task where an agent must play with objects to recover their parts.…
Imitation learning in robots, also called programing by demonstration, has made important advances in recent years, allowing humans to teach context dependant motor skills/tasks to robots. We propose to extend the usual contexts…
Articulated objects are commonly found in daily life. It is essential that robots can exhibit robust perception and manipulation skills for articulated objects in real-world robotic applications. However, existing methods for articulated…
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 an online spatiotemporal articulation model estimation framework that estimates both articulated structure as well as a temporal prediction model solely using passive observations. The resulting model can predict future mo- tions…
Robots that assist humans will need to interact with articulated objects such as cabinets or microwaves. Early work on creating systems for doing so used proprioceptive sensing to estimate joint mechanisms during contact. However, nowadays,…
Building interactive simulators and scalable robot-learning environments requires a large number of articulated assets. However, most existing 3D assets in simulation are rigid, and manually converting them into articulated objects is…
Articulation perception aims to recover the motion and structure of articulated objects (e.g., drawers and cupboards), and is fundamental to 3D scene understanding in robotics, simulation, and animation. Existing learning-based methods rely…
Interactive 3D simulated objects are crucial in AR/VR, animations, and robotics, driving immersive experiences and advanced automation. However, creating these articulated objects requires extensive human effort and expertise, limiting…
Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains where real-world interaction or labeled data are difficult to…
Articulation modeling enables robots to learn joint parameters of articulated objects for effective manipulation which can then be used downstream for skill learning or planning. Existing approaches often rely on prior knowledge about the…