相关论文: NAP: Neural 3D Articulation Prior

We study the problem of 3D object generation. We propose a novel framework, namely 3D Generative Adversarial Network (3D-GAN), which generates 3D objects from a probabilistic space by leveraging recent advances in volumetric convolutional…

Reconstructing articulated objects into high-fidelity digital twins is crucial for applications such as robotic manipulation and interactive simulation. Recent self-supervised methods using differentiable rendering frameworks like 3D…

We tackle the problem of text-driven 3D generation from a geometry alignment perspective. Given a set of text prompts, we aim to generate a collection of objects with semantically corresponding parts aligned across them. Recent methods…

Driven by powerful image diffusion models, recent research has achieved the automatic creation of 3D objects from textual or visual guidance. By performing score distillation sampling (SDS) iteratively across different views, these methods…

Learning geometry, motion, and appearance priors of object classes is important for the solution of a large variety of computer vision problems. While the majority of approaches has focused on static objects, dynamic objects, especially…

We propose a unified framework aimed at enhancing the diffusion priors for 3D generation tasks. Despite the critical importance of these tasks, existing methodologies often struggle to generate high-caliber results. We begin by examining…

Robotic grasping of house-hold objects has made remarkable progress in recent years. Yet, human grasps are still difficult to synthesize realistically. There are several key reasons: (1) the human hand has many degrees of freedom (more than…

Effectively manipulating articulated objects in household scenarios is a crucial step toward achieving general embodied artificial intelligence. Mainstream research in 3D vision has primarily focused on manipulation through depth perception…

We present Real2Code, a novel approach to reconstructing articulated objects via code generation. Given visual observations of an object, we first reconstruct its part geometry using an image segmentation model and a shape completion model.…

Estimating 3D articulated shapes like animal bodies from monocular images is inherently challenging due to the ambiguities of camera viewpoint, pose, texture, lighting, etc. We propose ARTIC3D, a self-supervised framework to reconstruct…

While progress in 2D generative models of human appearance has been rapid, many applications require 3D avatars that can be animated and rendered. Unfortunately, most existing methods for learning generative models of 3D humans with diverse…

We present Farm3D, a method for learning category-specific 3D reconstructors for articulated objects, relying solely on "free" virtual supervision from a pre-trained 2D diffusion-based image generator. Recent approaches can learn a…

With the success of image generation, generative diffusion models are increasingly adopted for discriminative tasks, as pixel generation provides a unified perception interface. However, directly repurposing the generative denoising process…

We present BimArt, a novel generative approach for synthesizing 3D bimanual hand interactions with articulated objects. Unlike prior works, we do not rely on a reference grasp, a coarse hand trajectory, or separate modes for grasping and…

Articulated objects are fundamental for robotics, simulation of physics, and interactive virtual environments. However, reconstructing them from visual input remains challenging, as it requires jointly inferring both part geometry and…

Building articulated objects is a key challenge in computer vision. Existing methods often fail to effectively integrate information across different object states, limiting the accuracy of part-mesh reconstruction and part dynamics…

Articulated objects like cabinets and doors are widespread in daily life. However, directly manipulating 3D articulated objects is challenging because they have diverse geometrical shapes, semantic categories, and kinetic constraints. Prior…

From refrigerators to kitchen drawers, humans interact with articulated objects effortlessly every day while completing household chores. For automating these tasks, service robots must be capable of manipulating arbitrary articulated…

Reconstructing articulated objects is essential for building digital twins of interactive environments. However, prior methods typically decouple geometry and motion by first reconstructing object shape in distinct states and then…

As autonomous robots interact and navigate around real-world environments such as homes, it is useful to reliably identify and manipulate articulated objects, such as doors and cabinets. Many prior works in object articulation…