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Robot description models are essential for simulation and control, yet their creation often requires significant manual effort.
On the shortest spanning subtree of a graph and the traveling salesman problem
Joseph B Kruskal · 1956
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Some methods for classification and analysis of multivariate observations
J MacQueen · 1967
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Marching cubes: A high resolution 3d surface construction algorithm
William E. Lorensen and Harvey E. Cline · 1987
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Silhouettes: a graphical aid to the interpretation and validation of cluster analysis
Peter J Rousseeuw · 1987
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Hierarchical chamfer matching: A parametric edge matching algorithm
Gunilla Borgefors · 1988
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A method for registration of 3-d shapes
P.J. Besl and Neil D. McKay · 1992
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k-means++: The advantages of careful seeding
David Arthur and Sergei Vassilvitskii · 2006
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Mujoco: A physics engine for model-based control
Emanuel Todorov, Tom Erez, and Yuval Tassa · 2012
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Bullet physics simulation
Erwin Coumans · 2015
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Efficient computation of the tree edit distance
Mateusz Pawlik and Nikolaus Augsten · 2015
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Tree edit distance: Robust and memory-efficient
Mateusz Pawlik and Nikolaus Augsten · 2016
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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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Task-agnostic self-modeling machines
Robert Kwiatkowski and Hod Lipson · 2019
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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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Deepsdf: Learning continuous signed distance functions for shape representation
Jeong Joon Park, Peter Florence, Julian Straub, Richard Newcombe, and Steven Lovegrove · 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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On the continuity of rotation representations in neural networks
Yi Zhou, Connelly Barnes, Jingwan Lu, Jimei Yang, and Hao Li · 2019
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Nonparametric object and parts modeling with lie group dynamics
David S Hayden, Jason Pacheco, and W Fisher John · 2020
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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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Accelerating 3d deep learning with pytorch3d
Nikhila Ravi, Jeremy Reizenstein, David Novotny, Taylor Gordon, Wan-Yen Lo, Justin Johnson, and Georgia Gkioxari · 2020
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Rignet: Neural rigging for articulated characters
Zhan Xu, Yang Zhou, Evangelos Kalogerakis, Chris Landreth, and Karan Singh · 2020
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Watch it move: Unsupervised discovery of 3d joints for re-posing of articulated objects
Atsuhiro Noguchi, Umar Iqbal, Jonathan Tremblay, Tatsuya Harada, and Orazio Gallo · 2022
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Command-driven articulated object understanding and manipulation
Ruihang Chu, Zhengzhe Liu, Xiaoqing Ye, Xiao Tan, Xiaojuan Qi, Chi-Wing Fu, and Jiaya Jia · 2023
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Carto: Category and joint agnostic reconstruction of articulated objects
Nick Heppert, Muhammad Zubair Irshad, Sergey Zakharov, Katherine Liu, Rares Andrei Ambrus, Jeannette Bohg, Abhinav Valada, and Thomas Kollar · 2023
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Teaching robots to build simulations of themselves
Yuhang Hu, Jiong Lin, and Hod Lipson · 2023
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3d gaussian splatting for real-time radiance field rendering
Bernhard Kerbl, Georgios Kopanas, Thomas Leimkühler, and George Drettakis · 2023
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Deep regression on manifolds: a 3d rotation case study
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Multibodysync: Multi-body segmentation and motion estimation via 3d scan synchronization
Jiahui Huang, He Wang, Tolga Birdal, Minhyuk Sung, Federica Arrigoni, Shi-Min Hu, and Leonidas Guibas · 2021
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Screwnet: Category-independent articulation model estimation from depth images using screw theory
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Isaac gym: High performance gpu-based physics simulation for robot learning, 2021
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Nerf: Representing scenes as neural radiance fields for view synthesis
Ben Mildenhall, Pratul P Srinivasan, Matthew Tancik, Jonathan T Barron, Ravi Ramamoorthi, and Ren Ng · 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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D-nerf: Neural radiance fields for dynamic scenes
Albert Pumarola, Enric Corona, Gerard Pons-Moll, and Francesc Moreno-Noguer · 2021
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Machine learning–driven self-discovery of the robot body morphology
Fernando Díaz Ledezma and Sami Haddadin · 2023
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Flowbot++: Learning generalized articulated objects manipulation via articulation projection
Harry Zhang, Ben Eisner, and David Held · 2023
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Solidworks to urdf exporter
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Urdformer: A pipeline for constructing articulated simulation environments from real-world images
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Learning with 3d rotations, a hitchhiker’s guide to so (3)
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Differentiable robot rendering, 2024
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Dynamic 3d gaussians: Tracking by persistent dynamic view synthesis
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Real2code: Reconstruct articulated objects via code generation
Zhao Mandi, Yijia Weng, Dominik Bauer, and Shuran Song · 2024
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Unified robot description format (urdf), 2023
ROS Wiki · 2024
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Reacto: Reconstructing articulated objects from a single video
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