相关论文: Guiding Diffusion-Based Articulated Object Generat…

Articulated object generation has seen increasing advancements, yet existing models often lack the ability to be conditioned on text prompts. To address the significant gap between textual descriptions and 3D articulated object…

Probabilistic diffusion models have achieved state-of-the-art results for image synthesis, inpainting, and text-to-image tasks. However, they are still in the early stages of generating complex 3D shapes. This work proposes Diffusion-SDF, a…

We propose Neural 3D Articulation Prior (NAP), the first 3D deep generative model to synthesize 3D articulated object models. Despite the extensive research on generating 3D objects, compositions, or scenes, there remains a lack of focus on…

Grasping objects successfully from a single-view camera is crucial in many robot manipulation tasks. An approach to solve this problem is to leverage simulation to create large datasets of pairs of objects and grasp poses, and then learn a…

Controllable generation of 3D assets is important for many practical applications like content creation in movies, games and engineering, as well as in AR/VR. Recently, diffusion models have shown remarkable results in generation quality of…

Generating realistic 3D point clouds is a fundamental problem in computer vision with applications in remote sensing, robotics, and digital object modeling. Existing generative approaches primarily capture geometry, and when semantics are…

Object pose estimation from a single view remains a challenging problem. In particular, partial observability, occlusions, and object symmetries eventually result in pose ambiguity. To account for this multimodality, this work proposes…

Efficiently generating grasp poses tailored to specific regions of an object is vital for various robotic manipulation tasks, especially in a dual-arm setup. This scenario presents a significant challenge due to the complex geometries…

We present a probabilistic model for point cloud generation, which is fundamental for various 3D vision tasks such as shape completion, upsampling, synthesis and data augmentation. Inspired by the diffusion process in non-equilibrium…

Existing autoregressive (AR) methods for generating artist-designed meshes struggle to balance global structural consistency with high-fidelity local details, and are susceptible to error accumulation. To address this, we propose…

Denoising diffusion models hold great promise for generating diverse and realistic human motions. However, existing motion diffusion models largely disregard the laws of physics in the diffusion process and often generate…

Most natural objects have inherent complexity and variability. While some simple objects can be modeled from first principles, many real-world phenomena, such as cloud formation, require computationally expensive simulations that limit…

Interactable objects are ubiquitous in our daily lives. Recent advances in 3D generative models make it possible to automate the modeling of these objects, benefiting a range of applications from 3D printing to the creation of robot…

Diffusion models have been popular for point cloud generation tasks. Existing works utilize the forward diffusion process to convert the original point distribution into a noise distribution and then learn the reverse diffusion process to…

Point cloud completion aims to recover the complete 3D shape of an object from partial observations. While approaches relying on synthetic shape priors achieved promising results in this domain, their applicability and generalizability to…

Diffusion probabilistic models have achieved remarkable success in text guided image generation. However, generating 3D shapes is still challenging due to the lack of sufficient data containing 3D models along with their descriptions.…

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…

Generating physically plausible human motion is crucial for applications such as character animation and virtual reality. Existing approaches often incorporate a simulator-based motion projection layer to the diffusion process to enforce…

While the community of 3D point cloud generation has witnessed a big growth in recent years, there still lacks an effective way to enable intuitive user control in the generation process, hence limiting the general utility of such methods.…

Diffusion models have emerged as a powerful tool for point cloud generation. A key component that drives the impressive performance for generating high-quality samples from noise is iteratively denoise for thousands of steps. While…