4 papers
Rethinking 3D Shape Generation: Diffusion over Superquadrics
Zhiyang Liu, Wanze Li, Yuwei Wu +4
Diffusion models have advanced 3D shape generation, yet most methods still denoise in high-cardinality spaces (e.g., voxel/SDF grids, meshes, or point clouds), which is computation…
TriP: A Triangle Puzzle Approach to Robust Translation Averaging
Zhekai Fan, Wanze Li, Jinxin Wang +1
Translation averaging aims to recover camera locations from pairwise relative translation directions and is a fundamental component of global Structure-from-Motion pipelines. The p…
RaggeDi: Diffusion-based State Estimation of Disordered Rags, Sheets, Towels and Blankets
Jikai Ye, Wanze Li, Shiraz Khan +1
Cloth state estimation is an important problem in robotics. It is essential for the robot to know the accurate state to manipulate cloth and execute tasks such as robotic dressing,…
Grasping by Hanging: a Learning-Free Grasping Detection Method for Previously Unseen Objects
Wanze Li, Wan Su, Gregory S. Chirikjian
This paper proposes a novel learning-free three-stage method that predicts grasping poses, enabling robots to pick up and transfer previously unseen objects. Our method first ident…