相关论文: ArtLLM: Generating Articulated Assets via 3D LLM

Robot learning increasingly relies on simulation to advance complex ability such as dexterous manipulations and precise interactions, necessitating high-quality digital assets to bridge the sim-to-real gap. However, existing open-source…

Recent advancements in 3D generation models have opened new possibilities for simulating dynamic 3D object movements and customizing behaviors, yet creating this content remains challenging. Current methods often require manual assignment…

Large language models (LLMs) and Vision-Language Models (VLMs) have been proven to excel at multiple tasks, such as commonsense reasoning. Powerful as these models can be, they are not grounded in the 3D physical world, which involves…

3D object segmentation with Large Language Models (LLMs) has become a prevailing paradigm due to its broad semantics, task flexibility, and strong generalization. However, this paradigm is hindered by representation misalignment: LLMs…

Due to the advantages of hypergraphs in modeling high-order relationships in complex systems, they have been applied to higher-order clustering, hypergraph neural networks and computer vision. These applications rely heavily on access to…

In the pursuit of efficient automated content creation, procedural generation, leveraging modifiable parameters and rule-based systems, emerges as a promising approach. Nonetheless, it could be a demanding endeavor, given its intricate…

While recent advancements in machine learning, such as LLMs, are revolutionizing software development and creative industries, they have had minimal impact on engineers designing mechanical parts, which remains largely a manual process.…

Spatial reasoning is a fundamental capability for embodied intelligence, especially for fine-grained manipulation tasks such as robotic assembly. While recent vision-language models (VLMs) exhibit preliminary spatial awareness, they largely…

The representation of feature space is a crucial environment where data points get vectorized and embedded for subsequent modeling. Thus the efficacy of machine learning (ML) algorithms is closely related to the quality of feature…

Large Language Model (LLM)-driven digital humans have sparked a series of recent studies on co-speech gesture generation systems. However, existing approaches struggle with real-time synthesis and long-text comprehension. This paper…

This study investigates the potential of Large Language Models (LLMs) for reconstructing and constructing the physical world solely based on textual knowledge. It explores the impact of model performance on spatial understanding abilities.…

For centuries, researchers have sought out ways to connect disparate areas of knowledge. While early scholars (Galileo, da Vinci, etc.) were experts across fields, specialization has taken hold later. With the advent of Artificial…

Text- or image-to-3D generators and 3D scanners can now produce 3D assets with high-quality shapes and textures. These assets typically consist of a single, fused representation, like an implicit neural field, a Gaussian mixture, or a mesh,…

A 3D scene graph represents a compact scene model by capturing both the objects present and the semantic relationships between them, making it a promising structure for robotic applications. To effectively interact with users, an embodied…

Materials design often relies on human-generated hypotheses, a process inherently limited by cognitive constraints such as knowledge gaps and limited ability to integrate and extract knowledge implications, particularly when…

Recovery of articulated 3D structure from 2D observations is a challenging computer vision problem with many applications. Current learning-based approaches achieve state-of-the-art accuracy on public benchmarks but are restricted to…

The ability to automatically generate large-scale, interactive, and physically realistic 3D environments is crucial for advancing robotic learning and embodied intelligence. However, existing generative approaches often fail to capture the…

Unified multimodal understanding and generation have recently received much attention in the area of vision and language. Existing UniMs are designed to simultaneously learn both multimodal understanding and generation capabilities,…

An AI system for professional floor plan design must precisely control room dimensions and areas while respecting the desired connectivity between rooms and maintaining functional and aesthetic quality. Existing generative approaches focus…

Simulating object dynamics from real-world perception shows great promise for digital twins and robotic manipulation but often demands labor-intensive measurements and expertise. We present a fully automated Real2Sim pipeline that generates…