相关论文: JODA: Composable Joint Dynamics for Articulated Ob…

This work presents IAAO, a novel framework that builds an explicit 3D model for intelligent agents to gain understanding of articulated objects in their environment through interaction. Unlike prior methods that rely on task-specific…

We introduce Particulate, a feed-forward model that, given a 3D mesh of an object, infers its articulations, including its 3D parts, their kinematic structure, and the motion constraints. The model is based on a transformer network, the…

Synthesizing whole-body manipulation of articulated objects, including body motion, hand motion, and object motion, is a critical yet challenging task with broad applications in virtual humans and robotics. The core challenges are twofold.…

This work proposes DOFS, a pilot dataset of 3D deformable objects (DOs) (e.g., elasto-plastic objects) with full spatial information (i.e., top, side, and bottom information) using a novel and low-cost data collection platform with a…

Recent work has made significant progress on using implicit functions, as a continuous representation for 3D rigid object shape reconstruction. However, much less effort has been devoted to modeling general articulated objects. Compared to…

Articulated 3D objects play a vital role in realistic simulation and embodied robotics, yet manually constructing such assets remains costly and difficult to scale. In this paper, we present UniArt, a diffusion-based framework that directly…

We introduce SCOD (Sensory Commutativity Object Detection), an active method for movable and immovable object detection. SCOD exploits the commutative properties of action sequences, in the scenario of an embodied agent equipped with…

3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actionable kinematic information required for…

Dynamic Object-aware SLAM (DOS) exploits object-level information to enable robust motion estimation in dynamic environments. Existing methods mainly focus on identifying and excluding dynamic objects from the optimization. In this paper,…

Seamless integration of virtual and physical worlds in augmented reality benefits from the system semantically "understanding" the physical environment. AR research has long focused on the potential of context awareness, demonstrating novel…

We propose ArtiLatent, a generative framework that synthesizes human-made 3D objects with fine-grained geometry, accurate articulation, and realistic appearance. Our approach jointly models part geometry and articulation dynamics by…

We present a method for differentiable simulation of soft articulated bodies. Our work enables the integration of differentiable physical dynamics into gradient-based pipelines. We develop a top-down matrix assembly algorithm within…

This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…

Joint forecasting of human trajectory and pose dynamics is a fundamental building block of various applications ranging from robotics and autonomous driving to surveillance systems. Predicting body dynamics requires capturing subtle…

This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…

Scaling up robot learning is hindered by the scarcity of robotic demonstrations, whereas human videos offer a vast, untapped source of interaction data. However, bridging the embodiment gap between human hands and robot arms remains a…

In order for robots to operate effectively in homes and workplaces, they must be able to manipulate the articulated objects common within environments built for and by humans. Previous work learns kinematic models that prescribe this…

Articulated object manipulation requires precise object interaction, where the object's axis must be carefully considered. Previous research employed interactive perception for manipulating articulated objects, but typically, open-loop…

We present a method for efficient differentiable simulation of articulated bodies. This enables integration of articulated body dynamics into deep learning frameworks, and gradient-based optimization of neural networks that operate on…

Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…