相关论文: Procedural Generation of Articulated Simulation-Re…

What does it take to build mobile manipulation systems that can competently operate on previously unseen objects in previously unseen environments? This work answers this question using opening of articulated structures as a mobile…

Sequentially interacting with articulated objects is crucial for a mobile manipulator to operate effectively in everyday environments. To enable long-horizon tasks involving articulated objects, this study explores building scene-level…

Recent 3D generative models can synthesize high-quality assets, but their outputs are typically static: they lack the skeletal rigs, joint hierarchies, and skinning weights required for animation. This limits their use in games, film,…

We present a method for efficient differentiable simulation of articulated bodies. This enables integration of articulated body dynamics into deep learning frameworks, and gradient-based optimization of neural networks that operate on…

Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…

This work make the first attempt to generate articulated human motion sequence from a single image. On the one hand, we utilize paired inputs including human skeleton information as motion embedding and a single human image as appearance…

We introduce ClutterGen, a physically compliant simulation scene generator capable of producing highly diverse, cluttered, and stable scenes for robot learning. Generating such scenes is challenging as each object must adhere to physical…

Training generalist robots demands large-scale, diverse manipulation data, yet real-world collection is prohibitively expensive, and existing simulators are often constrained by fixed asset libraries and manual heuristics. To bridge this…

We address the challenge of generating 3D articulated objects in a controllable fashion. Currently, modeling articulated 3D objects is either achieved through laborious manual authoring, or using methods from prior work that are hard to…

We present Real2Code, a novel approach to reconstructing articulated objects via code generation. Given visual observations of an object, we first reconstruct its part geometry using an image segmentation model and a shape completion model.…

Virtualizing the physical world into virtual models has been a critical technique for robot navigation and planning in the real world. To foster manipulation with articulated objects in everyday life, this work explores building…

We introduce ProcGen3D, a new approach for 3D content creation by generating procedural graph abstractions of 3D objects, which can then be decoded into rich, complex 3D assets. Inspired by the prevalent use of procedural generators in…

Articulated objects (e.g., doors and drawers) exist everywhere in our life. Different from rigid objects, articulated objects have higher degrees of freedom and are rich in geometries, semantics, and part functions. Modeling different kinds…

Generalist robot manipulators need to learn a wide variety of manipulation skills across diverse environments. Current robot training pipelines rely on humans to provide kinesthetic demonstrations or to program simulation environments and…

Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…

When automatically generating programming exercise tasks one often also needs to automatically generate programs. At the very least when providing sample solutions is part of automated feedback. But programs can also be used as part of the…

Although commercial and open-source software exist to reconstruct a static object from a sequence recorded with an RGB-D sensor, there is a lack of tools that build rigged models of articulated objects that deform realistically and can be…

Recent advances in Vision-Language-Action (VLA) and world-model methods have improved generalization in tasks such as robotic manipulation and object interaction. However, Successful execution of such tasks depends on large, costly…

Representing articulated objects remains a difficult problem within the field of robotics. Objects such as pliers, clamps, or cabinets require representations that capture not only geometry and color information, but also part seperation,…

A deep understanding of kinematic structures and movable components is essential for enabling robots to manipulate objects and model their own articulated forms. Such understanding is captured through articulated objects, which are…