相关论文: Learning Part-Aware Dense 3D Feature Field for Gen…

To substantially enhance robot intelligence, there is a pressing need to develop a large model that enables general-purpose robots to proficiently undertake a broad spectrum of manipulation tasks, akin to the versatile task-planning ability…

Robotic grasping of house-hold objects has made remarkable progress in recent years. Yet, human grasps are still difficult to synthesize realistically. There are several key reasons: (1) the human hand has many degrees of freedom (more than…

Articulated objects pose a unique challenge for robotic perception and manipulation. Their increased number of degrees-of-freedom makes tasks such as localization computationally difficult, while also making the process of real-world…

Neural implicit reconstruction via volume rendering has demonstrated its effectiveness in recovering dense 3D surfaces. However, it is non-trivial to simultaneously recover meticulous geometry and preserve smoothness across regions with…

We introduce a modeling tool which can evolve a set of 3D objects in a functionality-aware manner. Our goal is for the evolution to generate large and diverse sets of plausible 3D objects for data augmentation, constrained modeling, as well…

We present ATOP (Articulate That Object Part), a novel few-shot method based on motion personalization to articulate a static 3D object with respect to a part and its motion as prescribed in a text prompt. Given the scarcity of available…

Segmenting 3D assets into their constituent parts is crucial for enhancing 3D understanding, facilitating model reuse, and supporting various applications such as part generation. However, current methods face limitations such as poor…

Translating high-level linguistic instructions into precise robotic actions in the physical world remains challenging, particularly when considering the feasibility of interacting with 3D objects. In this paper, we introduce 3D-TAFS, a…

Diffusion probabilistic models have quickly become a major approach for generative modeling of images, 3D geometry, video and other domains. However, to adapt diffusion generative modeling to these domains the denoising network needs to be…

In this paper, we introduce Partial Information Decomposition of Features (PIDF), a new paradigm for simultaneous data interpretability and feature selection. Contrary to traditional methods that assign a single importance value, our…

Coordinating the motion of robots with high degrees of freedom (DoF) to grasp objects gives rise to many challenges. In this paper, we propose a novel imitation learning approach to learn a policy that directly predicts 23 DoF grasp…

Collaborative 3D object detection holds significant importance in the field of autonomous driving, as it greatly enhances the perception capabilities of each individual agent by facilitating information exchange among multiple agents.…

In this paper, we study the problem of continuous 3D shape representations. The majority of existing successful methods are coordinate-based implicit neural representations. However, they are inefficient to render novel views or recover…

In order to enable robust operation in unstructured environments, robots should be able to generalize manipulation actions to novel object instances. For example, to pour and serve a drink, a robot should be able to recognize novel…

3D articulated objects are inherently challenging for manipulation due to the varied geometries and intricate functionalities associated with articulated objects.Point-level affordance, which predicts the per-point actionable score and thus…

We address the challenge of acquiring real-world manipulation skills with a scalable framework. We hold the belief that identifying an appropriate prediction target capable of leveraging large-scale datasets is crucial for achieving…

Manipulating unseen objects is challenging without a 3D representation, as objects generally have occluded surfaces. This requires physical interaction with objects to build their internal representations. This paper presents an approach…

3D scene understanding is a long-standing challenge in computer vision and a key component in enabling mixed reality, wearable computing, and embodied AI. Providing a solution to these applications requires a multifaceted approach that…

We present Assembler, a scalable and generalizable framework for 3D part assembly that reconstructs complete objects from input part meshes and a reference image. Unlike prior approaches that mostly rely on deterministic part pose…

We present Panoptic Neural Fields (PNF), an object-aware neural scene representation that decomposes a scene into a set of objects (things) and background (stuff). Each object is represented by an oriented 3D bounding box and a multi-layer…