相关论文: Neural Assembler: Learning to Generate Fine-Graine…

Artificial neural networks have recently shown great results in many disciplines and a variety of applications, including natural language understanding, speech processing, games and image data generation. One particular application in…

2D assembly diagrams are often abstract and hard to follow, creating a need for intelligent assistants that can monitor progress, detect errors, and provide step-by-step guidance. In mixed reality settings, such systems must recognize…

One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of orthogonal walls and…

Most existing 3D assembly methods treat the problem as pure pose estimation, rearranging observed parts via rigid transformations. In contrast, human assembly naturally couples structural reasoning with holistic shape inference. Inspired by…

Assembly of multi-part physical structures is both a valuable end product for autonomous robotics, as well as a valuable diagnostic task for open-ended training of embodied intelligent agents. We introduce a naturalistic physics-based…

Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…

Automated assembly of 3D fractures is essential in orthopedics, archaeology, and our daily life. This paper presents Jigsaw, a novel framework for assembling physically broken 3D objects from multiple pieces. Our approach leverages…

Recent work has proven that training large language models with self-supervised tasks and fine-tuning these models to complete new tasks in a transfer learning setting is a powerful idea, enabling the creation of models with many…

Co-part segmentation is an important problem in computer vision for its rich applications. We propose an unsupervised learning approach for co-part segmentation from images. For the training stage, we leverage motion information embedded in…

The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…

Many strides have been made in semantic segmentation of multiple classes within an image. This has been largely due to advancements in deep learning and convolutional neural networks (CNNs). Features within a CNN are automatically learned…

Assembling a slave object into a fixture-free master object represents a critical challenge in flexible manufacturing. Existing deep reinforcement learning-based methods, while benefiting from visual or operational priors, often struggle…

3D geometry is a very informative cue when interacting with and navigating an environment. This writing proposes a new approach to 3D reconstruction and scene understanding, which implicitly learns 3D geometry from depth maps pairing a deep…

This paper addresses the challenge of novel view synthesis for a human performer from a very sparse set of camera views. Some recent works have shown that learning implicit neural representations of 3D scenes achieves remarkable view…

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…

One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…

Assembly-based tools provide a powerful modeling paradigm for non-expert shape designers. However, choosing a component from a large shape repository and aligning it to a partial assembly can become a daunting task. In this paper we…

Reconstructing a 3D object from a 2D image is a well-researched vision problem, with many kinds of deep learning techniques having been tried. Most commonly, 3D convolutional approaches are used, though previous work has shown…

Individualized manufacturing is becoming an important approach as a means to fulfill increasingly diverse and specific consumer requirements and expectations. While there are various solutions to the implementation of the manufacturing…

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…