6 papers
DICArt: Advancing Category-level Articulated Object Pose Estimation in Discrete State-Spaces
Li Zhang, Mingyu Mei, Ailing Wang +7
Articulated object pose estimation is a core task in embodied AI. Existing methods typically regress poses in a continuous space, but often struggle with 1) navigating a large, com…
REArtGS: Reconstructing and Generating Articulated Objects via 3D Gaussian Splatting with Geometric and Motion Constraints
Di Wu, Liu Liu, Zhou Linli +5
Articulated objects, as prevalent entities in human life, their 3D representations play crucial roles across various applications. However, achieving both high-fidelity textured su…
Exploring Category-level Articulated Object Pose Tracking on SE(3) Manifolds
Xianhui Meng, Yukang Huo, Li Zhang +6
Articulated objects are prevalent in daily life and robotic manipulation tasks. However, compared to rigid objects, pose tracking for articulated objects remains an underexplored p…
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…
Generalizable Articulated Object Perception with Superpoints
Qiaojun Yu, Ce Hao, Xibin Yuan +5
Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In th…