相关论文: "Stack It Up!": 3D Stable Structure Generation fro…
Topology optimization (TO) is employed in engineering to optimize structural performance while maximizing material efficiency. However, traditional TO methods incur significant computational and time costs. Although research has leveraged…
Sketch-based image editing aims to synthesize and modify photos based on the structural information provided by the human-drawn sketches. Since sketches are difficult to collect, previous methods mainly use edge maps instead of sketches to…
Natural language and images are commonly used as goal representations in goal-conditioned imitation learning (IL). However, natural language can be ambiguous and images can be over-specified. In this work, we propose hand-drawn sketches as…
Text-guided 3D shape generation remains challenging due to the absence of large paired text-shape data, the substantial semantic gap between these two modalities, and the structural complexity of 3D shapes. This paper presents a new…
Understanding how people interact with their surroundings and each other is essential for enabling robots to act in socially compliant and context-aware ways. While 3D Scene Graphs have emerged as a powerful semantic representation for…
As robots are expected to get more involved in people's everyday lives, frameworks that enable intuitive user interfaces are in demand. Hand gesture recognition systems provide a natural way of communication and, thus, are an integral part…
While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant…
With the advancement of generative artificial intelligence, previous studies have achieved the task of generating aesthetic images from hand-drawn sketches, fulfilling the public's needs for drawing. However, these methods are limited to…
Spatial reasoning is an important component of human intelligence. We can imagine the shapes of 3D objects and reason about their spatial relations by merely looking at their three-view line drawings in 2D, with different levels of…
With the research into development of quadruped robots picking up pace, learning based techniques are being explored for developing locomotion controllers for such robots. A key problem is to generate leg trajectories for continuously…
In this paper, we present Stratified Topological Autonomy for Long-Range Coordination (STALC), a hierarchical planning approach for multi-robot coordination in real-world environments with significant inter-robot spatial and temporal…
Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel object and their configurations. Developmental psychology…
This paper tackles the challenging task of 3D visual grounding-locating a specific object in a 3D point cloud scene based on text descriptions. Existing methods fall into two categories: top-down and bottom-up methods. Top-down methods rely…
This work introduces a novel convolutional network architecture for the task of human pose estimation. Features are processed across all scales and consolidated to best capture the various spatial relationships associated with the body. We…
Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…
We present a sketch-based CAD modeling system, where users create objects incrementally by sketching the desired shape edits, which our system automatically translates to CAD operations. Our approach is motivated by the close similarities…
Robotic tasks often require motions with complex geometric structures. We present an approach to learn such motions from a limited number of human demonstrations by exploiting the regularity properties of human motions e.g. stability,…
We describe a system that lets a designer interactively draw patterns of strokes in the picture plane, then guide the synthesis of similar patterns over new picture regions. Synthesis is based on an initial user-assisted analysis phase in…
A robot can now grasp an object more effectively than ever before, but once it has the object what happens next? We show that a mild relaxation of the task and workspace constraints implicit in existing object grasping datasets can cause…
Modern interactive applications increasingly demand dynamic 3D content, yet the transformation of static 3D models into animated assets constitutes a significant bottleneck in content creation pipelines. While recent advances in generative…