相关论文: PhysPart: Physically Plausible Part Completion for…

Articulated objects are central to interactive 3D applications, including embodied AI, robotics, and VR/AR, where functional part decomposition and kinematic motion are essential. Yet producing high-fidelity articulated assets remains…

We address the challenge of creating 3D assets for household articulated objects from a single image. Prior work on articulated object creation either requires multi-view multi-state input, or only allows coarse control over the generation…

Recent generative models can synthesize high-quality images, but they often fail to generate humans interacting with objects using their hands. This arises mostly from the model's misunderstanding of such interactions and the hardships of…

3D human pose estimation from 2D images is a challenging problem due to depth ambiguity and occlusion. Because of these challenges the task is underdetermined, where there exists multiple -- possibly infinite -- poses that are plausible…

Accurately digitizing physical objects is central to many applications, including virtual/augmented reality, industrial design, and e-commerce. Prior research has demonstrated efficient and faithful reconstruction of objects' geometric…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

We propose a probabilistic shape completion method extended to the continuous geometry of large-scale 3D scenes. Real-world scans of 3D scenes suffer from a considerable amount of missing data cluttered with unsegmented objects. The problem…

Design - especially of physical objects - can be understood as creative acts solving practical problems. In this paper we describe a biologically-inspired developmental model as the basis of a generative form-finding system. Using local…

Denoising diffusion models hold great promise for generating diverse and realistic human motions. However, existing motion diffusion models largely disregard the laws of physics in the diffusion process and often generate…

We propose a novel task of text-controlled human object interaction generation in 3D scenes with movable objects. Existing human-scene interaction datasets suffer from insufficient interaction categories and typically only consider…

Generating articulated assets is crucial for robotics, digital twins, and embodied intelligence. Existing generative models often rely on single-view inputs representing closed states, resulting in ambiguous or unrealistic kinematic…

Lightweight, controllable, and physically plausible human motion synthesis is crucial for animation, virtual reality, robotics, and human-computer interaction applications. Existing methods often compromise between computational efficiency,…

With the onset of diffusion-based generative models and their ability to generate text-conditioned images, content generation has received a massive invigoration. Recently, these models have been shown to provide useful guidance for the…

Stably placing an object in a multi-object scene is a fundamental challenge in robotic manipulation, as placements must be penetration-free, establish precise surface contact, and result in a force equilibrium. To assess stability, existing…

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…

We present Assembler, a scalable and generalizable framework for 3D part assembly that reconstructs complete objects from input part meshes and a reference image. Unlike prior approaches that mostly rely on deterministic part pose…

Generating 3D shapes at part level is pivotal for downstream applications such as mesh retopology, UV mapping, and 3D printing. However, existing part-based generation methods often lack sufficient controllability and suffer from poor…

Assembling parts into an object is a combinatorial problem that arises in a variety of contexts in the real world and involves numerous applications in science and engineering. Previous related work tackles limited cases with identical unit…

Robots operating in human environments must be able to rearrange objects into semantically-meaningful configurations, even if these objects are previously unseen. In this work, we focus on the problem of building physically-valid structures…

Physically-based simulation is a powerful approach for 3D facial animation as the resulting deformations are governed by physical constraints, allowing to easily resolve self-collisions, respond to external forces and perform realistic…