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Articulated object manipulation is a fundamental yet challenging task in robotics.
The theory of affordances
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Opening a door with a humanoid robot using multi-sensory tactile feedback
Andreas J Schmid, Nicolas Gorges, Dirk Goger, and Heinz Worn · 2008
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Planning for autonomous door opening with a mobile manipulator
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Visual object-action recognition: Inferring object affordances from human demonstration
Hedvig Kjellström, Javier Romero, and Danica Kragić · 2011
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A probabilistic framework for learning kinematic models of articulated objects
Jürgen Sturm, Cyrill Stachniss, and Wolfram Burgard · 2011
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Felix Burget, Armin Hornung, and Maren Bennewitz · 2013
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Interactive segmentation, tracking, and kinematic modeling of unknown 3d articulated objects
Dov Katz, Moslem Kazemi, J Andrew Bagnell, and Anthony Stentz · 2013
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Diederik P Kingma and Jimmy Ba · 2015
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Pointnet++: Deep hierarchical feature learning on point sets in a metric space
Charles Ruizhongtai Qi, Li Yi, Hao Su, and Leonidas J Guibas · 2017
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Deep part induction from articulated object pairs
Li Yi, Haibin Huang, Difan Liu, Evangelos Kalogerakis, Hao Su, and Leonidas Guibas · 2018
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PartNet: A large-scale benchmark for fine-grained and hierarchical part-level 3D object understanding
Kaichun Mo, Shilin Zhu, Angel X. Chang, Li Yi, Subarna Tripathi, Leonidas J. Guibas, and Hao Su · 2019
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Shape2motion: Joint analysis of motion parts and attributes from 3d shapes
Xiaogang Wang, Bin Zhou, Yahao Shi, Xiaowu Chen, Qinping Zhao, and Kai Xu · 2019
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Category-level articulated object pose estimation
Xiaolong Li, He Wang, Li Yi, Leonidas J Guibas, A Lynn Abbott, and Shuran Song · 2020
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Nothing but geometric constraints: A model-free method for articulated object pose estimation
Qihao Liu, Weichao Qiu, Weiyao Wang, Gregory D Hager, and Alan L Yuille · 2020
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Sapien: A simulated part-based interactive environment
Fanbo Xiang, Yuzhe Qin, Kaichun Mo, Yikuan Xia, Hao Zhu, Fangchen Liu, Minghua Liu, Hanxiao Jiang, Yifu Yuan, He Wang, et al · 2020
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3d affordancenet: A benchmark for visual object affordance understanding
Shengheng Deng, Xun Xu, Chaozheng Wu, Ke Chen, and Kui Jia · 2021
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Act the part: Learning interaction strategies for articulated object part discovery
Samir Yitzhak Gadre, Kiana Ehsani, and Shuran Song · 2021
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Synergies between affordance and geometry: 6-dof grasp detection via implicit representations
Zhenyu Jiang, Yifeng Zhu, Maxwell Svetlik, Kuan Fang, and Yuke Zhu · 2021
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Learning dexterous grasping with object-centric visual affordances
Priyanka Mandikal and Kristen Grauman · 2021
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Where2act: From pixels to actions for articulated 3d objects
Kaichun Mo, Leonidas J Guibas, Mustafa Mukadam, Abhinav Gupta, and Shubham Tulsiani · 2021
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A-sdf: Learning disentangled signed distance functions for articulated shape representation
Jiteng Mu, Weichao Qiu, Adam Kortylewski, Alan Yuille, Nuno Vasconcelos, and Xiaolong Wang · 2021
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Structure from action: Learning interactions for articulated object 3d structure discovery
Neil Nie, Samir Yitzhak Gadre, Kiana Ehsani, and Shuran Song · 2022
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Learning agent-aware affordances for closed-loop interaction with articulated objects
Giulio Schiavi, Paula Wulkop, Giuseppe Rizzi, Lionel Ott, Roland Siegwart, and Jen Jen Chung · 2022
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Adaafford: Learning to adapt manipulation affordance for 3d articulated objects via few-shot interactions
Yian Wang, Ruihai Wu, Kaichun Mo, Jiaqi Ke, Qingnan Fan, Leonidas J Guibas, and Hao Dong · 2022
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Partafford: Part-level affordance discovery from 3d objects
Chao Xu, Yixin Chen, He Wang, Song-Chun Zhu, Yixin Zhu, and Siyuan Huang · 2022
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Universal manipulation policy network for articulated objects
Zhenjia Xu, Zhanpeng He, and Shuran Song · 2022
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Captra: Category-level pose tracking for rigid and articulated objects from point clouds
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Vat-mart: Learning visual action trajectory proposals for manipulating 3d articulated objects
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Visual identification of articulated object parts
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Haoran Geng, Helin Xu, Chengyang Zhao, Chao Xu, Li Yi, Siyuan Huang, and He Wang · 2022
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End-to-end affordance learning for robotic manipulation
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Category-independent articulated object tracking with factor graphs
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Point-bert: Pre-training 3d point cloud transformers with masked point modeling
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Dualafford: Learning collaborative visual affordance for dual-gripper object manipulation
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Dexart: Benchmarking generalizable dexterous manipulation with articulated objects
Chen Bao, Helin Xu, Yuzhe Qin, and Xiaolong Wang · 2023
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Strap: Structured object affordance segmentation with point supervision
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Carto: Category and joint agnostic reconstruction of articulated objects
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Coarse-to-fine active segmentation of interactable parts in real scene images
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