ViewStruct: View-Grounded Articulation and Connectivity Inference
We introduce ViewStruct, a framework for jointly predicting connectivity and articulation in objects and scenes.
ProofPaper ↗
Key points
- Interacting with unfamiliar objects requires understanding how their parts connect and move.
- Given an RGB image with aligned part segmentation and depth, optionally supplemented by images or video, ViewStruct predicts rigid-body groupings, attachments, and joint parameters.
- A pretrained vision--language model is adapted to predict structure in seconds, without requiring observed articulation motion or per-instance optimisation.
- Simulated manipulation experiments further demonstrate the utility of predicted joints for generating robot motion trajectories.
Sources (1)
- [1]ViewStruct: View-Grounded Articulation and Connectivity InferencearXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 12, 01:47 PM
We introduce ViewStruct, a framework for jointly predicting connectivity and articulation in objects and scenes.
Interacting with unfamiliar objects requires understanding how their parts connect and move.
Extractive summary: sentences quoted from the sources.
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