相关论文: Articulated Object Estimation in the Wild

Articulated object pose estimation is a core task in embodied AI. Existing methods typically regress poses in a continuous space, but often struggle with 1) navigating a large, complex search space and 2) failing to incorporate intrinsic…

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…

We introduce SAOR, a novel approach for estimating the 3D shape, texture, and viewpoint of an articulated object from a single image captured in the wild. Unlike prior approaches that rely on pre-defined category-specific 3D templates or…

We propose an end-to-end trainable, cross-category method for reconstructing multiple man-made articulated objects from a single RGBD image, focusing on part-level shape reconstruction and pose and kinematics estimation. We depart from…

Part segmentation and motion estimation are two fundamental problems for articulated object motion analysis. In this paper, we present a method to solve these two problems jointly from a sequence of observed point clouds of a single…

Object functionality is often expressed through part articulation -- as when the two rigid parts of a scissor pivot against each other to perform the cutting function. Such articulations are often similar across objects within the same…

Precise perception of articulated objects is vital for empowering service robots. Recent studies mainly focus on point cloud, a single-modal approach, often neglecting vital texture and lighting details and assuming ideal conditions like…

Autonomous robots operating in real-world environments encounter a variety of objects that can be both rigid and articulated in nature. Having knowledge of these specific object properties not only helps in designing appropriate…

Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…

We present a methodology to model articulated objects using a sparse set of images with unknown poses. Current methods require dense multi-view observations and ground-truth camera poses. Our approach operates with as few as four views per…

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…

Articulated objects are ubiquitous in daily life. In this paper, we present DexSim2Real$^{2}$, a novel framework for goal-conditioned articulated object manipulation. The core of our framework is constructing an explicit world model of…

We explore the problem of estimating the mass distribution of an articulated object by an interactive robotic agent. Our method predicts the mass distribution of an object by using the limited sensing and actuating capabilities of a robotic…

Next generation robots will need to understand intricate and articulated objects as they cooperate in human environments. To do so, these robots will need to move beyond their current abilities--- working with relatively simple objects in a…

We introduce InteractVLM, a novel method to estimate 3D contact points on human bodies and objects from single in-the-wild images, enabling accurate human-object joint reconstruction in 3D. This is challenging due to occlusions, depth…

We present ArtiGrasp, a novel method to synthesize bi-manual hand-object interactions that include grasping and articulation. This task is challenging due to the diversity of the global wrist motions and the precise finger control that are…

One of the fundamental goals of visual perception is to allow agents to meaningfully interact with their environment. In this paper, we take a step towards that long-term goal -- we extract highly localized actionable information related 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.…

The estimation of viewpoints and keypoints effectively enhance object detection methods by extracting valuable traits of the object instances. While the output of both processes differ, i.e., angles vs. list of characteristic points, they…

Reconstructing articulated objects prevalent in daily environments is crucial for applications in augmented/virtual reality and robotics. However, existing methods face scalability limitations (requiring 3D supervision or costly…