相关论文: Automatically Improving Simulation Physics for Art…
Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
Humans frequently grasp, manipulate, and move objects. Interactive systems assist humans in these tasks, enabling applications in Embodied AI, human-robot interaction, and virtual reality. However, current methods in hand-object synthesis…
Remotely programming robots to execute tasks often relies on registering objects of interest in the robot's environment. Frequently, these tasks involve articulating objects such as opening or closing a valve. However, existing…
Learning-based 3D object reconstruction enables single- or few-shot estimation of 3D object models. For robotics, this holds the potential to allow model-based methods to rapidly adapt to novel objects and scenes. Existing 3D reconstruction…
Articulated objects are fundamental for robotics, simulation of physics, and interactive virtual environments. However, reconstructing them from visual input remains challenging, as it requires jointly inferring both part geometry and…
We address the challenge of creating 3D assets for household articulated objects from a single image. Prior work on articulated object creation either requires multi-view multi-state input, or only allows coarse control over the generation…
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…
Simulation has played an important role in efficiently evaluating self-driving vehicles in terms of scalability. Existing methods mostly rely on heuristic-based simulation, where traffic participants follow certain human-encoded rules that…
State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…
A kitchen assistant needs to operate human-scale objects, such as cabinets and ovens, in unmapped environments with dynamic obstacles. Autonomous interactions in such environments require integrating dexterous manipulation and fluid…
Our work aims to reconstruct hand-held objects given a single RGB image. In contrast to prior works that typically assume known 3D templates and reduce the problem to 3D pose estimation, our work reconstructs generic hand-held object…
Articulated objects are central to interactive 3D applications, including embodied AI, robotics, and VR/AR, where functional part decomposition and kinematic motion are essential. Yet producing high-fidelity articulated assets remains…
Understanding and manipulating articulated objects, such as doors and drawers, is crucial for robots operating in human environments. We wish to develop a system that can learn to articulate novel objects with no prior interaction, after…
High-fidelity physics simulation is essential for scalable robotic learning, but the sim-to-real gap persists, especially for tasks involving complex, dynamic, and discontinuous interactions like physical contacts. Explicit system…
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…
A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…
A deep understanding of kinematic structures and movable components is essential for enabling robots to manipulate objects and model their own articulated forms. Such understanding is captured through articulated objects, which are…
Object functionality is often expressed through part articulation -- as when the two rigid parts of a scissor pivot against each other to perform the cutting function. Such articulations are often similar across objects within the same…