4 papers
NARF24: Estimating Articulated Object Structure for Implicit Rendering
Stanley Lewis, Tom Gao, Odest Chadwicke Jenkins
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 c…
Single-View 3D Reconstruction via SO(2)-Equivariant Gaussian Sculpting Networks
Ruihan Xu, Anthony Opipari, Joshua Mah +4
This paper introduces SO(2)-Equivariant Gaussian Sculpting Networks (GSNs) as an approach for SO(2)-Equivariant 3D object reconstruction from single-view image observations. GSNs t…
NARF22: Neural Articulated Radiance Fields for Configuration-Aware Rendering
Stanley Lewis, Jana Pavlasek, Odest Chadwicke Jenkins
Articulated objects pose a unique challenge for robotic perception and manipulation. Their increased number of degrees-of-freedom makes tasks such as localization computationally d…
Parts-Based Articulated Object Localization in Clutter Using Belief Propagation
Jana Pavlasek, Stanley Lewis, Karthik Desingh +1
Robots working in human environments must be able to perceive and act on challenging objects with articulations, such as a pile of tools. Articulated objects increase the dimension…