103 citations · 103 across the 3 of their papers we have counts for
4 papers
FunArt: Decoding Functional Structure and Articulation from Generative 3D Latents
Dennis Rotondi, Abdelrhman Werby, Kai O. Arras
To operate effectively in human environments, robots must identify articulated objects, segment their movable and interactive parts, and estimate their kinematic models. Existing a…
KeySG: Hierarchical Keyframe-Based 3D Scene Graphs
Abdelrhman Werby, Dennis Rotondi, Fabio Scaparro +1
In recent years, 3D scene graphs have emerged as a powerful world representation, offering both geometric accuracy and semantic richness. Combining 3D scene graphs with large langu…
Articulated Object Estimation in the Wild
Abdelrhman Werby, Martin Büchner, Adrian Röfer +3
Understanding the 3D motion of articulated objects is essential in robotic scene understanding, mobile manipulation, and motion planning. Prior methods for articulation estimation…
Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation
Abdelrhman Werby, Chenguang Huang, Martin Büchner +2
Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features. While these maps allow for the prediction of point-wise saliency…