相关论文: DragAPart: Learning a Part-Level Motion Prior for …

We introduce AutoPartGen, a model that generates objects composed of 3D parts in an autoregressive manner. This model can take as input an image of an object, 2D masks of the object's parts, or an existing 3D object, and generate a…

Part mobility analysis is a significant aspect required to achieve a functional understanding of 3D objects. It would be natural to obtain part mobility from the continuous part motion of 3D objects. In this study, we introduce a…

In this paper, we propose a novel object-level mapping system that can simultaneously segment, track, and reconstruct objects in dynamic scenes. It can further predict and complete their full geometries by conditioning on reconstructions…

Many robotic tasks require grasping objects at specific object parts instead of arbitrarily, a crucial capability for interactions beyond simple pick-and-place, such as human-robot interaction, handovers, or tool use. Prior work has focused…

Learning data-efficient object dynamics models for robotic manipulation remains challenging, especially for deformable objects. A popular approach is to model objects as sets of 3D particles and learn their motion using graph neural…

Predicting diverse object motions from a single static image remains challenging, as current video generation models often entangle object movement with camera motion and other scene changes. While recent methods can predict specific…

Fine-grained visual recognition is to classify objects with visually similar appearances into subcategories, which has made great progress with the development of deep CNNs. However, handling subtle differences between different…

We present MovingParts, a NeRF-based method for dynamic scene reconstruction and part discovery. We consider motion as an important cue for identifying parts, that all particles on the same part share the common motion pattern. From the…

Manipulating an articulated object requires perceiving itskinematic hierarchy: its parts, how each can move, and howthose motions are coupled. Previous work has explored per-ception for kinematics, but none infers a complete…

Training a generalizable 3D part segmentation network is quite challenging but of great importance in real-world applications. To tackle this problem, some works design task-specific solutions by translating human understanding of the task…

Given a 3D object, kinematic motion prediction aims to identify the mobile parts as well as the corresponding motion parameters. Due to the large variations in both topological structure and geometric details of 3D objects, this remains a…

We address the task of predicting what parts of an object can open and how they move when they do so. The input is a single image of an object, and as output we detect what parts of the object can open, and the motion parameters describing…

Articulated objects exist widely in the real world. However, previous 3D generative methods for unsupervised part decomposition are unsuitable for such objects, because they assume a spatially fixed part location, resulting in inconsistent…

We propose novel motion representations for animating articulated objects consisting of distinct parts. In a completely unsupervised manner, our method identifies object parts, tracks them in a driving video, and infers their motions by…

We address the task of simultaneous part-level reconstruction and motion parameter estimation for articulated objects. Given two sets of multi-view images of an object in two static articulation states, we decouple the movable part from the…

Manipulating unseen objects is challenging without a 3D representation, as objects generally have occluded surfaces. This requires physical interaction with objects to build their internal representations. This paper presents an approach…

In this work, we address the task of few-shot part segmentation, which aims to segment the different parts of an unseen object using very few labeled examples. It is found that leveraging the textual space of a powerful pre-trained…

Synthesizing visual content that meets users' needs often requires flexible and precise controllability of the pose, shape, expression, and layout of the generated objects. Existing approaches gain controllability of generative adversarial…

Robots operating in domestic environments generally need to interact with articulated objects, such as doors, cabinets, dishwashers or fridges. In this work, we present a novel, probabilistic framework for modeling articulated objects as…

In this paper, we explore whether a robot can learn to regrasp a diverse set of objects to achieve various desired grasp poses. Regrasping is needed whenever a robot's current grasp pose fails to perform desired manipulation tasks. Endowing…