相关论文: Articulate That Object Part (ATOP): 3D Part Articu…

3D multi-object tracking aims to uniquely and consistently identify all mobile entities through time. Despite the rich spatiotemporal information available in this setting, current 3D tracking methods primarily rely on abstracted…

3D multi-object tracking (MOT) is a key problem for autonomous vehicles, required to perform well-informed motion planning in dynamic environments. Particularly for densely occupied scenes, associating existing tracks to new detections…

Articulated objects are prevalent in daily life. Interactable digital twins of such objects have numerous applications in embodied AI and robotics. Unfortunately, current methods to digitize articulated real-world objects require carefully…

We present AvatarPopUp, a method for fast, high quality 3D human avatar generation from different input modalities, such as images and text prompts and with control over the generated pose and shape. The common theme is the use of…

The manipulation of articulated objects is of primary importance in Robotics, and can be considered as one of the most complex manipulation tasks. Traditionally, this problem has been tackled by developing ad-hoc approaches, which lack…

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…

Perceiving and manipulating 3D articulated objects (e.g., cabinets, doors) in human environments is an important yet challenging task for future home-assistant robots. The space of 3D articulated objects is exceptionally rich in their…

Recent advances in generative motion synthesis have enabled the production of realistic human motions from diverse input modalities. However, synthesizing compound actions from texts, which integrate multiple concurrent actions into…

Accurately analyzing the motion parts and their motion attributes in dynamic environments is crucial for advancing key areas such as embodied intelligence. Addressing the limitations of existing methods that rely on dense multi-view images…

Recent advancements in 3D perception systems have significantly improved their ability to perform visual recognition tasks such as segmentation. However, these systems still heavily rely on explicit human instruction to identify target…

Segmenting 3D assets into their constituent parts is crucial for enhancing 3D understanding, facilitating model reuse, and supporting various applications such as part generation. However, current methods face limitations such as poor…

From refrigerators to kitchen drawers, humans interact with articulated objects effortlessly every day while completing household chores. For automating these tasks, service robots must be capable of manipulating arbitrary articulated…

This paper presents Segment This Thing (STT), a new efficient image segmentation model designed to produce a single segment given a single point prompt. Instead of following prior work and increasing efficiency by decreasing model size, we…

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…

Affordance Templates (ATs) are a method for parameterizing objects for autonomous robot manipulations. In this approach, instances of an object are registered by positioning a model in a 3D environment, which requires a large amount of user…

This paper focuses on the challenging problem of 3D pose estimation of a diverse spectrum of articulated objects from single depth images. A novel structured prediction approach is considered, where 3D poses are represented as skeletal…

Autonomous systems need to localize and track surrounding objects in 3D space for safe motion planning. As a result, 3D multi-object tracking (MOT) plays a vital role in autonomous navigation. Most MOT methods use a tracking-by-detection…

Understanding articulated objects from monocular video is a crucial yet challenging task in robotics and digital twin creation. Existing methods often rely on complex multi-view setups, high-fidelity object scans, or fragile long-term point…

Rigged puppets are one of the most prevalent representations to create 2D character animations. Creating these puppets requires partitioning characters into independently moving parts. In this work, we present a method to automatically…

Manipulating unseen articulated objects through visual feedback is a critical but challenging task for real robots. Existing learning-based solutions mainly focus on visual affordance learning or other pre-trained visual models to guide…