Web: http://arxiv.org/abs/2205.04382

Sept. 22, 2022, 1:14 a.m. | Ben Eisner, Harry Zhang, David Held

cs.CV updates on arXiv.org arxiv.org

We explore a novel method to perceive and manipulate 3D articulated objects
that generalizes to enable a robot to articulate unseen classes of objects. We
propose a vision-based system that learns to predict the potential motions of
the parts of a variety of articulated objects to guide downstream motion
planning of the system to articulate the objects. To predict the object
motions, we train a neural network to output a dense vector field representing
the point-wise motion direction of the …

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