From the 1 of 5 linked papers with an AI index.
5 papers
ContactFlow: A video action conditioning that transfers across embodiments
Sami Azirar, Enrico Pallotta, Jan Nogga +3
The paper introduces Contact Flow, an embodiment‑agnostic representation that encodes manipulation as the trajectory of 3D contact points, enabling a video‑based world model traine…
ArtiTwinSplat: Interactable Digital Twin Reconstruction via Gaussian Splatting from RGB-D videos
Pranjal Mishra, René Zurbrügg, Max Wilder-Smith +4
Deploying robots in unstructured real-world environments needs accurate, interactive models of the objects. Constructing these models at scale remains a critical bottleneck for rob…
FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning
Zhengyu Fu, René Zurbrügg, Kaixian Qu +4
Recent work in 3D scene understanding is moving beyond purely spatial analysis toward functional scene understanding. However, existing methods often consider functional relationsh…
Articulated 3D Scene Graphs for Open-World Mobile Manipulation
Martin Büchner, Adrian Röfer, Tim Engelbracht +5
Semantics has enabled 3D scene understanding and affordance-driven object interaction. However, robots operating in real-world environments face a critical limitation: they cannot…
FunGraph: Functionality Aware 3D Scene Graphs for Language-Prompted Scene Interaction
Dennis Rotondi, Fabio Scaparro, Hermann Blum +1
The concept of 3D scene graphs is increasingly recognized as a powerful semantic and hierarchical representation of the environment. Current approaches often address this at a coar…