相关论文: Category-Agnostic Neural Object Rigging

We present a spatio-temporal perspective on category-agnostic 3D lifting of 2D keypoints over a temporal sequence. Our approach differs from existing state-of-the-art methods that are either: (i) object-agnostic, but can only operate on…

In general, the problem of non-rigid registration is about matching two different scans of a dynamic object taken at two different points in time. These scans can undergo both rigid motions and non-rigid deformations. Since new parts of the…

Rearranging and manipulating deformable objects such as cables, fabrics, and bags is a long-standing challenge in robotic manipulation. The complex dynamics and high-dimensional configuration spaces of deformables, compared to rigid…

In order to meaningfully interact with the world, robot manipulators must be able to interpret objects they encounter. A critical aspect of this interpretation is pose estimation: inferring quantities that describe the position and…

Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…

Articulated objects and their representations pose a difficult problem for robots. These objects require not only representations of geometry and texture, but also of the various connections and joint parameters that make up each…

Large intra-class variation is the result of changes in multiple object characteristics. Images, however, only show the superposition of different variable factors such as appearance or shape. Therefore, learning to disentangle and…

In this paper, we investigate the problem of grasping novel objects in unstructured environments. To address this problem, consideration of the object geometry, reachability and force closure analysis are required. We propose a framework…

We present a novel learning approach to recover the 6D poses and sizes of unseen object instances from an RGB-D image. To handle the intra-class shape variation, we propose a deep network to reconstruct the 3D object model by explicitly…

Reconstructing compositional 3D representations of scenes, where each object is represented with its own 3D model, is a highly desirable capability in robotics and augmented reality. However, most existing methods rely heavily on strong…

The robotic manipulation of deformable linear objects has shown great potential in a wide range of real-world applications. However, it presents many challenges due to the objects' complex nonlinearity and high-dimensional configuration. In…

Learning based representation has become the key to the success of many computer vision systems. While many 3D representations have been proposed, it is still an unaddressed problem how to represent a dynamically changing 3D object. In this…

Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…

Robotic systems in manufacturing applications commonly assume known object geometry and appearance. This simplifies the task for the 3D perception algorithms and allows the manipulation to be more deterministic. However, those approaches…

In this work we introduce Lifting Autoencoders, a generative 3D surface-based model of object categories. We bring together ideas from non-rigid structure from motion, image formation, and morphable models to learn a controllable, geometric…

We propose novel motion representations for animating articulated objects consisting of distinct parts. In a completely unsupervised manner, our method identifies object parts, tracks them in a driving video, and infers their motions by…

Parametric 3D models have formed a fundamental role in modeling deformable objects, such as human bodies, faces, and hands; however, the construction of such parametric models requires significant manual intervention and domain expertise.…

We address the challenge of learning to manipulate deformable objects with unknown dynamics. In non-rigid objects, the dynamics parameters define how they react to interactions -- how they stretch, bend, compress, and move -- and they are…

Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high…

In this work, we propose a disentangled latent optimization-based method for parameterizing grouped deforming 3D objects into shape and deformation factors in an unsupervised manner. Our approach involves the joint optimization of a…