Building home assistant robots has long been a goal for vision and robotics researchers. To
achieve this task, a simulated environment with physically realistic simulation, sufficient …

Virtual reality (VR) offers an artificial, computer generated simulation of a real life
environment. It originated in the 1960s and has evolved to provide increasing immersion …

One of the fundamental goals of visual perception is to allow agents to meaningfully interact
with their environment. In this paper, we take a step towards that long-term goal--we extract …

Perceiving and manipulating 3D articulated objects in diverse environments is essential for
home-assistant robots. Recent studies have shown that point-level affordance provides …

Existing 3D scene understanding methods are heavily focused on 3D semantic and instance
segmentation. However identifying objects and their parts only constitutes an intermediate …

We explore a novel method to perceive and manipulate 3D articulated objects that
generalizes to enable a robot to articulate unseen classes of objects. We propose a vision …

Physical products are often complex assemblies combining a multitude of 3D parts modeled
in computer-aided design (CAD) software. CAD designers build up these assemblies by …

Perceiving and manipulating 3D articulated objects (eg, cabinets, doors) in human
environments is an important yet challenging task for future home-assistant robots. The …

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 …

Perceiving and interacting with 3D articulated objects, such as cabinets, doors, and faucets,
pose particular challenges for future home-assistant robots performing daily tasks in human …