Paris: Part-level reconstruction and motion analysis for articulated objects
We address the task of simultaneous part-level reconstruction and motion parameter
estimation for articulated objects. Given two sets of multi-view images of an object in two …
estimation for articulated objects. Given two sets of multi-view images of an object in two …
Ditto in the house: Building articulation models of indoor scenes through interactive perception
Virtualizing the physical world into virtual models has been a critical technique for robot
navigation and planning in the real world. To foster manipulation with articulated objects in …
navigation and planning in the real world. To foster manipulation with articulated objects in …
3d implicit transporter for temporally consistent keypoint discovery
Keypoint-based representation has proven advantageous in various visual and robotic
tasks. However, the existing 2D and 3D methods for detecting keypoints mainly rely on …
tasks. However, the existing 2D and 3D methods for detecting keypoints mainly rely on …
Structure from action: Learning interactions for articulated object 3d structure discovery
We introduce Structure from Action (SfA), a framework to discover 3D part geometry and joint
parameters of unseen articulated objects via a sequence of inferred interactions. Our key …
parameters of unseen articulated objects via a sequence of inferred interactions. Our key …
Building rearticulable models for arbitrary 3d objects from 4d point clouds
We build rearticulable models for arbitrary everyday man-made objects containing an
arbitrary number of parts that are connected together in arbitrary ways via 1-degree-of …
arbitrary number of parts that are connected together in arbitrary ways via 1-degree-of …
Neural Implicit Representation for Building Digital Twins of Unknown Articulated Objects
We address the problem of building digital twins of unknown articulated objects from two
RGBD scans of the object at different articulation states. We decompose the problem into …
RGBD scans of the object at different articulation states. We decompose the problem into …
Structure from Action: Learning Interactions for 3D Articulated Object Structure Discovery
We introduce Structure from Action (SfA), a framework to discover 3D part geometry and joint
parameters of unseen articulated objects via a sequence of inferred interactions. Our key …
parameters of unseen articulated objects via a sequence of inferred interactions. Our key …
Survey on Modeling of Articulated Objects
3D modeling of articulated objects is a research problem within computer vision, graphics,
and robotics. Its objective is to understand the shape and motion of the articulated …
and robotics. Its objective is to understand the shape and motion of the articulated …
Real2Code: Reconstruct Articulated Objects via Code Generation
We present Real2Code, a novel approach to reconstructing articulated objects via code
generation. Given visual observations of an object, we first reconstruct its part geometry …
generation. Given visual observations of an object, we first reconstruct its part geometry …
KinScene: Model-Based Mobile Manipulation of Articulated Scenes
Sequentially interacting with articulated objects is crucial for a mobile manipulator to operate
effectively in everyday environments. To enable long-horizon tasks involving articulated …
effectively in everyday environments. To enable long-horizon tasks involving articulated …