相关论文: Prompt2Craft: Generating Functional Craft Assembli…

Task-aware robotic grasping is a challenging problem that requires the integration of semantic understanding and geometric reasoning. This paper proposes a novel framework that leverages Large Language Models (LLMs) and Quality Diversity…

For designing a wide range of everyday objects, the design process should be aware of both the human body and the underlying semantics of the design specification. However, these two objectives present significant challenges to the current…

Synthesizing 3D scenes from open-vocabulary text descriptions is a challenging, important, and recently-popular application. One of its critical subproblems is layout generation: given a set of objects, lay them out to produce a scene…

Is it possible to learn policies for robotic assembly that can generalize to new objects? We explore this idea in the context of the kit assembly task. Since classic methods rely heavily on object pose estimation, they often struggle to…

Reasoning 3D shapes from 2D images is an essential yet challenging task, especially when only single-view images are at our disposal. While an object can have a complicated shape, individual parts are usually close to geometric primitives…

Task-oriented grasping (TOG) is more challenging than simple object grasping because it requires precise identification of object parts and careful selection of grasping areas to ensure effective and robust manipulation. While recent…

This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…

Assembly of multi-part physical structures is both a valuable end product for autonomous robotics, as well as a valuable diagnostic task for open-ended training of embodied intelligent agents. We introduce a naturalistic physics-based…

Generating articulated objects, such as laptops and microwaves, is a crucial yet challenging task with extensive applications in Embodied AI and AR/VR. Current image-to-3D methods primarily focus on surface geometry and texture, neglecting…

3D generation from natural language offers significant potential to reduce expert manual modeling efforts and enhance accessibility to 3D assets. However, existing methods often yield unstructured meshes and exhibit poor interactivity,…

Creating interactive digital environments for gaming, robotics, and simulation relies on articulated 3D objects whose functionality emerges from their part geometry and kinematic structure. However, existing approaches remain fundamentally…

This paper proposes a robot assembly planning method by automatically reading the graphical instruction manuals design for humans. Essentially, the method generates an Assembly Task Sequence Graph (ATSG) by recognizing a graphical…

Despite significant technological advancements, the process of programming robots for adaptive assembly remains labor-intensive, demanding expertise in multiple domains and often resulting in task-specific, inflexible code. This work…

A key challenge towards the goal of multi-part assembly tasks is finding robust sensorimotor control methods in the presence of uncertainty. In contrast to previous works that rely on a priori knowledge on whether two parts match, we aim to…

It is crucial to efficiently execute instructions such as "Find an apple and a banana" or "Get ready for a field trip," which require searching for multiple objects or understanding context-dependent commands. This study addresses the…

The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…

Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary…

In this paper, we propose a learning-based approach to the task of automatically extracting a "wireframe" representation for images of cluttered man-made environments. The wireframe (see Fig. 1) contains all salient straight lines and their…

This paper presents a simple yet powerful method for 3D human mesh reconstruction from a single RGB image. Most recently, the non-local interactions of the whole mesh vertices have been effectively estimated in the transformer while the…

3D objects (artefacts) are made to fulfill functions. Designing an object often starts with defining a list of functionalities that it should provide, also known as functional requirements. Today, the design of 3D object models is still a…