相关论文: Artiverse: A Diverse and Physically Grounded Datas…
Archaeologists, as well as specialists and practitioners in cultural heritage, require applications with additional functions, such as the annotation and attachment of metadata to specific regions of the 3D digital artifacts, to go beyond…
Rigged objects are commonly used in artist pipelines, as they can flexibly adapt to different scenes and postures. However, articulating the rigs into realistic affordance-aware postures (e.g., following the context, respecting the physics…
Articulated 3D objects are critical for embodied AI, robotics, and interactive scene understanding, yet creating simulation-ready assets remains labor-intensive and requires expert modeling of part hierarchies and motion structures. We…
We present ClothesNet: a large-scale dataset of 3D clothes objects with information-rich annotations. Our dataset consists of around 4400 models covering 11 categories annotated with clothes features, boundary lines, and keypoints.…
Category-level articulated object pose estimation aims to estimate a hierarchy of articulation-aware object poses of an unseen articulated object from a known category. To reduce the heavy annotations needed for supervised learning methods,…
Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In this work, we introduce a novel superpoint-based perception…
Human-object interactions with articulated objects are common in everyday life. Despite much progress in single-view 3D reconstruction, it is still challenging to infer an articulated 3D object model from an RGB video showing a person…
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…
Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…
Articulated objects pose diverse manipulation challenges for robots. Since their internal structures are not directly observable, robots must adaptively explore and refine actions to generate successful manipulation trajectories. While…
Articulated objects and their representations pose a difficult problem for robots. These objects require not only representations of geometry and texture, but also of the various connections and joint parameters that make up each…
Point tracking aims to follow visual points through complex motion, occlusion, and viewpoint changes, and has advanced rapidly with modern foundation models. Yet progress toward general point tracking remains constrained by limited…
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…
Retrieving the 3D kinematics of articulated objects from monocular video is a fundamental challenge in computer vision. Existing methods rely on complex video setups or cues such as long-term point tracking or wide-baseline matching, but…
Numerous advancements in deep learning can be attributed to the access to large-scale and well-annotated datasets. However, such a dataset is prohibitively expensive in 3D computer vision due to the substantial collection cost. To alleviate…
Articulation perception aims to recover the motion and structure of articulated objects (e.g., drawers and cupboards), and is fundamental to 3D scene understanding in robotics, simulation, and animation. Existing learning-based methods rely…
Precisely grasping and reconstructing articulated objects is key to enabling general robotic manipulation. In this paper, we propose CenterArt, a novel approach for simultaneous 3D shape reconstruction and 6-DoF grasp estimation of…
Articulated objects, as prevalent entities in human life, their 3D representations play crucial roles across various applications. However, achieving both high-fidelity textured surface reconstruction and dynamic generation for articulated…
This paper extends the popular task of multi-object tracking to multi-object tracking and segmentation (MOTS). Towards this goal, we create dense pixel-level annotations for two existing tracking datasets using a semi-automatic annotation…
Articulated objects are common in the real world, yet modeling their structure and motion remains a challenging task for 3D reconstruction methods. In this work, we introduce Part$^{2}$GS, a novel framework for modeling articulated digital…