8 papers
REArtGS++: Generalizable Articulation Reconstruction with Temporal Geometry Constraint via Planar Gaussian Splatting
Di Wu, Liu Liu, Anran Huang +5
Articulated objects are pervasive in daily environments, such as drawers and refrigerators. Towards their part-level surface reconstruction and joint parameter estimation, REArtGS…
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…
Articulated Object Manipulation using Online Axis Estimation with SAM2-Based Tracking
Xi Wang, Tianxing Chen, Qiaojun Yu +7
Articulated object manipulation requires precise object interaction, where the object's axis must be carefully considered. Previous research employed interactive perception for man…
ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulation
Wenhai Liu, Junbo Wang, Yiming Wang +2
In most contact-rich manipulation tasks, humans apply time-varying forces to the target object, compensating for inaccuracies in the vision-guided hand trajectory. However, current…