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

Incorporating temporal information effectively is important for accurate 3D human motion estimation and generation which have wide applications from human-computer interaction to AR/VR. In this paper, we present MoManifold, a novel human…

We introduce PICA, a novel representation for high-fidelity animatable clothed human avatars with physics-accurate dynamics, even for loose clothing. Previous neural rendering-based representations of animatable clothed humans typically…

Open-set object detection (OSOD) is highly desirable for robotic manipulation in unstructured environments. However, existing OSOD methods often fail to meet the requirements of robotic applications due to their high computational burden…

Human motion prediction is a challenging and important task in many computer vision application domains. Existing work only implicitly models the spatial structure of the human skeleton. In this paper, we propose a novel approach that…

In recent years, 3D understanding has turned to 2D vision-language pre-trained models to overcome data scarcity challenges. However, existing methods simply transfer 2D alignment strategies, aligning 3D representations with single-view 2D…

Fitting nonlinear dynamical models to sparse and noisy observations is fundamentally challenging. Identifying dynamics requires data assimilation (DA) to estimate system states, but DA requires an accurate dynamical model. To break this…

Generating physically plausible dynamic motions of human-object interaction (HOI) remains challenging, mainly due to existing HOI datasets limited to static interactions, and pretrained agents capable of either dynamic full-body motions…

3D articulated objects modeling has long been a challenging problem, since it requires to capture both accurate surface geometries and semantically meaningful and spatially precise structures, parts, and joints. Existing methods heavily…

Robots deployed in human-centric environments may need to manipulate a diverse range of articulated objects, such as doors, dishwashers, and cabinets. Articulated objects often come with unexpected articulation mechanisms that are…

Building interactive simulators and scalable robot-learning environments requires a large number of articulated assets. However, most existing 3D assets in simulation are rigid, and manually converting them into articulated objects is…

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…

Articulated object generation has seen increasing advancements, yet existing models often lack the ability to be conditioned on text prompts. To address the significant gap between textual descriptions and 3D articulated object…

We propose novel motion representations for animating articulated objects consisting of distinct parts. In a completely unsupervised manner, our method identifies object parts, tracks them in a driving video, and infers their motions by…

Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…

We suggest a new multi-modal algorithm for joint inference of paired structurally aligned samples with Rectified Flow models. While some existing methods propose a codependent generation process, they do not view the problem of joint…

Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…

3D Reconstruction of moving articulated objects without additional information about object structure is a challenging problem. Current methods overcome such challenges by employing category-specific skeletal models. Consequently, they do…

Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (local) planning and simulation frameworks typically separate…

We introduce a mathematical formulation of feature-informed data assimilation (FIDA). In FIDA, the information about feature events, such as shock waves, level curves, wavefronts and peak value, in dynamical systems are used for the…

Articulated objects are prevalent in daily life. Interactable digital twins of such objects have numerous applications in embodied AI and robotics. Unfortunately, current methods to digitize articulated real-world objects require carefully…