3 papers
cs.RO2025
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…
cs.RO2025
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…
cs.CV2024
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…