相关论文: Manual-PA: Learning 3D Part Assembly from Instruct…

Robotic assembly systems traditionally require substantial manual engineering effort to integrate new tasks, adapt to new environments, and improve performance over time. This paper presents a framework for autonomous integration and…

The assembly instruction is a mandatory component of Lego-like brick sets.The conventional production of assembly instructions requires a considerable amount of manual fine-tuning, which is intractable for casual users and customized brick…

In this paper, we introduce POMA-3D, the first self-supervised 3D representation model learned from point maps. Point maps encode explicit 3D coordinates on a structured 2D grid, preserving global 3D geometry while remaining compatible with…

This paper presents a robotic assembly framework that combines Vision-Language Models (VLMs) with imitation learning for assembly manipulation tasks. Our system employs a gripper-equipped robot that moves in 3D space to perform assembly…

This paper proposes a new concept in which a digital twin derived from a digital product description will automatically perform assembly planning and orchestrate the production resources in a manufacturing cell. Thus the manufacturing cell…

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…

Recent vision-language pre-training models have exhibited remarkable generalization ability in zero-shot recognition tasks. Previous open-vocabulary 3D scene understanding methods mostly focus on training 3D models using either image or…

The tolerancing process links the virtual and the real worlds. From the former, tolerances define a variational geometrical language (geometric parameters). From the latter, there are values limiting those parameters. The beginning of a…

This paper demonstrates an approach for learning highly semantic image representations without relying on hand-crafted data-augmentations. We introduce the Image-based Joint-Embedding Predictive Architecture (I-JEPA), a non-generative…

This paper considers the task of locating articulated poses of multiple robots in images. Our approach simultaneously infers the number of robots in a scene, identifies joint locations and estimates sparse depth maps around joint locations.…

Manual assembly workers face increasing complexity in their work. Human-centered assistance systems could help, but object recognition as an enabling technology hinders sophisticated human-centered design of these systems. At the same time,…

Direct automatic segmentation of objects from 3D medical imaging, such as magnetic resonance (MR) imaging, is challenging as it often involves accurately identifying a number of individual objects with complex geometries within a large…

A fundamental challenge in conditional 3D shape generation is to minimize the information loss and maximize the intention of user input. Existing approaches have predominantly focused on two types of isolated conditional signals, i.e., user…

Action coordination in human structure is indispensable for the spatial constraints of 2D joints to recover 3D pose. Usually, action coordination is represented as a long-range dependence among body parts. However, there are two main…

Robots-operating autonomous assembly applications in an unstructured environment require precise methods to locate the building components on site. However, the current available object detection systems are not well-optimised for…

Estimating 3D human pose and shape from a single image is highly under-constrained. To address this ambiguity, we propose a novel prior, namely kinematic dictionary, which explicitly regularizes the solution space of relative 3D rotations…

Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…

In this paper, a progress recognition method consider occlusion using deep metric learning is proposed to visualize the product assembly process in a factory. First, the target assembly product is detected from images acquired from a…

This paper introduces a new approach for the automated reconstruction - reassembly of fragmented objects having one surface near to plane, on the basis of the 3D representation of their constituent fragments. The whole process starts by 3D…

2D irregular shape packing is a necessary step to arrange UV patches of a 3D model within a texture atlas for memory-efficient appearance rendering in computer graphics. Being a joint, combinatorial decision-making problem involving all…