相关论文: Towards Affordance-Aware Articulation Synthesis fo…
Successfully synthesizing controllers for complex dynamical systems and specifications often requires leveraging domain knowledge as well as making difficult computational or mathematical tradeoffs. This paper presents a flexible and…
Grounded understanding of natural language in physical scenes can greatly benefit robots that follow human instructions. In object manipulation scenarios, existing end-to-end models are proficient at understanding semantic concepts, but…
Transferring articulated motion from monocular videos to rigged 3D characters is challenging due to pose ambiguity in 2D observations and morphological differences between source and target. Existing approaches often follow a…
Human life is populated with articulated objects. A comprehensive understanding of articulated objects, namely appearance, structure, physics property, and semantics, will benefit many research communities. As current articulated object…
Learning an effective policy to control high-dimensional, overactuated systems is a significant challenge for deep reinforcement learning algorithms. Such control scenarios are often observed in the neural control of vertebrate…
Edge AI deployments are becoming increasingly complex, necessitating energy-efficient solutions for resource-constrained embedded systems. Approximate computing, which allows for controlled inaccuracies in computations, is emerging as a…
Grasp detection in clutter requires the robot to reason about the 3D scene from incomplete and noisy perception. In this work, we draw insight that 3D reconstruction and grasp learning are two intimately connected tasks, both of which…
Movie productions use high resolution 3d characters with complex proprietary rigs to create the highest quality images possible for large displays. Unfortunately, these 3d assets are typically not compatible with real-time graphics engines…
Articulated object manipulation is a critical capability for robots to perform various tasks in real-world scenarios. Composed of multiple parts connected by joints, articulated objects are endowed with diverse functional mechanisms through…
Gradient index (GRIN) acoustic devices have spatially inhomogeneous refractive index profile and allow flexible control of the propagation of acoustic waves. Previous GRIN acoustic lenses are mostly inherently two-dimensional designs that…
Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab settings, and prior mobile manipulation work is restricted to…
Understanding object affordances is essential for enabling robots to perform purposeful and fine-grained interactions in diverse and unstructured environments. However, existing approaches either rely on retrieval, which is fragile due to…
Modern technology-independent logic synthesis has been developed to optimize for the size and depth of AND-Inverter Graphs (AIGs) as a proxy of CMOS circuit area and delay. However, for non-CMOS-based emerging technologies, AIG size and…
Robotic affordance estimation is challenging due to visual, geometric, and semantic ambiguities in sensory input. We propose a method that disambiguates these signals using two coupled recursive estimators for sub-aspects of affordances:…
Robotic manipulation faces critical challenges in understanding spatial affordances--the "where" and "how" of object interactions--essential for complex manipulation tasks like wiping a board or stacking objects. Existing methods, including…
Articulated 3D object generation is fundamental for creating realistic, functional, and interactable virtual assets which are not simply static. We introduce MeshArt, a hierarchical transformer-based approach to generate articulated 3D…
Controllable 3D indoor scene synthesis stands at the forefront of technological progress, offering various applications like gaming, film, and augmented/virtual reality. The capability to stylize and de-couple objects within these scenarios…
Understanding 3D scene-level affordances from natural language instructions is essential for enabling embodied agents to interact meaningfully in complex environments. However, this task remains challenging due to the need for semantic…
The concept of function and affordance is a critical aspect of 3D scene understanding and supports task-oriented objectives. In this work, we develop a model that learns to structure and vary functional affordance across a 3D hierarchical…
Human motion synthesis conditioned on textual input has gained significant attention in recent years due to its potential applications in various domains such as gaming, film production, and virtual reality. Conditioned Motion synthesis…