相关论文: iTACO: Interactable Digital Twins of Articulated O…
Digitizing physical objects into the virtual world has the potential to unlock new research and applications in embodied AI and mixed reality. This work focuses on recreating interactive digital twins of real-world articulated objects,…
Human-object interactions with articulated objects are common in everyday life. Despite much progress in single-view 3D reconstruction, it is still challenging to infer an articulated 3D object model from an RGB video showing a person…
Building high-fidelity digital twins of articulated objects from visual data remains a central challenge. Existing approaches depend on multi-view captures of the object in discrete, static states, which severely constrains their real-world…
We address the problem of building digital twins of unknown articulated objects from two RGBD scans of the object at different articulation states. We decompose the problem into two stages, each addressing distinct aspects. Our method first…
Interactive 3D simulated objects are crucial in AR/VR, animations, and robotics, driving immersive experiences and advanced automation. However, creating these articulated objects requires extensive human effort and expertise, limiting…
Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains where real-world interaction or labeled data are difficult to…
Building digital twins of articulated objects from monocular video presents an essential challenge in computer vision, which requires simultaneous reconstruction of object geometry, part segmentation, and articulation parameters from…
We present a dataset with models of 14 articulated objects commonly found in human environments and with RGB-D video sequences and wrenches recorded of human interactions with them. The 358 interaction sequences total 67 minutes of human…
Digital twin is a problem of augmenting real objects with their digital counterparts. It can underpin a wide range of applications in augmented reality (AR), autonomy, and UI/UX. A critical component in a good digital-twin system is…
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…
We tackle the challenge of concurrent reconstruction at the part level with the RGB appearance and estimation of motion parameters for building digital twins of articulated objects using the 3D Gaussian Splatting (3D-GS) method. With two…
Humans commonly work with multiple objects in daily life and can intuitively transfer manipulation skills to novel objects by understanding object functional regularities. However, existing technical approaches for analyzing and…
Articulated object manipulation requires precise object interaction, where the object's axis must be carefully considered. Previous research employed interactive perception for manipulating articulated objects, but typically, open-loop…
We address the challenge of creating 3D assets for household articulated objects from a single image. Prior work on articulated object creation either requires multi-view multi-state input, or only allows coarse control over the generation…
Robots deployed in human-centric environments may need to manipulate a diverse range of articulated objects, such as doors, dishwashers, and cabinets. Articulated objects often come with unexpected articulation mechanisms that are…
3D Reconstruction of moving articulated objects without additional information about object structure is a challenging problem. Current methods overcome such challenges by employing category-specific skeletal models. Consequently, they do…
In this paper, we address the challenge of reconstructing general articulated 3D objects from a single video. Existing works employing dynamic neural radiance fields have advanced the modeling of articulated objects like humans and animals…
Articulated 3D reconstruction has valuable applications in various domains, yet it remains costly and demands intensive work from domain experts. Recent advancements in template-free learning methods show promising results with monocular…
Humans intuitively understand that inanimate objects do not move by themselves, but that state changes are typically caused by human manipulation (e.g., the opening of a book). This is not yet the case for machines. In part this is because…
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…