4 papers · 1 filter
ArtGS:3D Gaussian Splatting for Interactive Visual-Physical Modeling and Manipulation of Articulated Objects
Qiaojun Yu, Xibin Yuan, Yu jiang +8
Articulated object manipulation remains a critical challenge in robotics due to the complex kinematic constraints and the limited physical reasoning of existing methods. In this wo…
UniAff: A Unified Representation of Affordances for Tool Usage and Articulation with Vision-Language Models
Qiaojun Yu, Siyuan Huang, Xibin Yuan +9
Previous studies on robotic manipulation are based on a limited understanding of the underlying 3D motion constraints and affordances. To address these challenges, we propose a com…
ManiPose: A Comprehensive Benchmark for Pose-aware Object Manipulation in Robotics
Qiaojun Yu, Ce Hao, Junbo Wang +6
Robotic manipulation in everyday scenarios, especially in unstructured environments, requires skills in pose-aware object manipulation (POM), which adapts robots' grasping and hand…
RPMArt: Towards Robust Perception and Manipulation for Articulated Objects
Junbo Wang, Wenhai Liu, Qiaojun Yu +4
Articulated objects are commonly found in daily life. It is essential that robots can exhibit robust perception and manipulation skills for articulated objects in real-world roboti…