Yixin Zhu | PKU
Yixin Zhu | PKU
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Affordance
[IROS24] PreAfford: Universal Affordance-Based Pre-Grasping for Diverse Objects and Environments
Robotic manipulation with two-finger grippers is challenged by objects lacking distinct graspable features. Traditional pre-grasping …
Kairui Ding
,
Boyuan Chen
,
Ruihai Wu
,
Yuyang Li
,
Zongzheng Zhang
,
Huan-Ang Gao
,
Siqi Li
,
Yixin Zhu
,
Guyue Zhou
,
Hao Dong
,
Hao Zhao
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Web
[IROS23] Part-level Scene Reconstruction Affords Robot Interaction
Existing methods for reconstructing interactive scenes primarily focus on replacing reconstructed objects with CAD models retrieved …
Zeyu Zhang
,
Lexing Zhang
,
Zaijin Wang
,
Ziyuan Jiao
,
Muzhi Han
,
Yixin Zhu
,
Song-Chun Zhu
,
Hangxin Liu
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Web
STRAP: Structured Transformer for Affordance Segmentation with Point Supervision
With significant annotation savings, point supervision has been proven effective for numerous 2D and 3D scene understanding problems. …
Leiyao Cui
,
Xiaoxue Chen
,
Hao Zhao
,
Guyue Zhou
,
Yixin Zhu
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[IJCV22] Scene Reconstruction with Functional Objects for Robot Autonomy
In this paper, we rethink the problem of scene reconstruction from an embodied agent’s perspective: While the classic view focuses on …
Muzhi Han
,
Zeyu Zhang
,
Ziyuan Jiao
,
Xu Xie
,
Yixin Zhu
,
Song-Chun Zhu
,
Hangxin Liu
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Web
北大新闻网
北大AI院官网
北大AI院官微
[ECCV22Workshop] PartAfford: Part-level Affordance Discovery from 3D Objects
Understanding what objects could furnish for humans-namely, learning object affordance-is the crux to bridge perception and action. In …
Chao Xu
,
Yixin Chen
,
He Wang
,
Song-Chun Zhu
,
Yixin Zhu
,
Siyuan Huang
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Video
[RA-L/IROS22] Understanding Physical Effects for Effective Tool-use
We present a robot learning and planning framework that produces an effective tool-use strategy with the least joint efforts, capable …
Zeyu Zhang
,
Ziyuan Jiao
,
Weiqi Wang
,
Yixin Zhu
,
Song-Chun Zhu
,
Hangxin Liu
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Video
北大新闻网
北大AI院官网
北大AI院官微
[ICLR21Workshop] HALMA: Humanlike Abstraction Learning Meets Affordance in Rapid Problem Solving
Humans learn compositional and causal abstraction, i.e., knowledge, in response to the structure of naturalistic tasks. When presented …
Sirui Xie
,
Xiaojian Ma
,
Peiyu Yu
,
Yixin Zhu
,
Ying Nian Wu
,
Song-Chun Zhu
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Web
[ICRA21] Reconstructing Interactive 3D Scene by Panoptic Mapping and CAD Model Alignments
In this paper, we rethink the problem of scene reconstruction from an embodied agent’s perspective: While the classic view …
Muzhi Han
,
Zeyu Zhang
,
Ziyuan Jiao
,
Xu Xie
,
Yixin Zhu
,
Song-Chun Zhu
,
Hangxin Liu
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Code
Video
Web
[ICCV19] Holistic++ Scene Understanding: Single-view 3D Holistic Scene Parsing and Human Pose Estimation with Human-Object Interaction and Physical Commonsense
We propose a new 3D holistic++ scene understanding problem, which jointly tackles two tasks from a single-view image: (i) holistic …
Yixin Chen
,
Siyuan Huang
,
Tao Yuan
,
Yixin Zhu
,
Siyuan Qi
,
Song-Chun Zhu
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[NeurIPS18] Cooperative Holistic Scene Understanding: Unifying 3D Object, Layout, and Camera Pose Estimation
Holistic 3D indoor scene understanding refers to jointly recovering the i) object bounding boxes, ii) room layout, and iii) camera …
Siyuan Huang
,
Siyuan Qi
,
Yinxue Xiao
,
Yixin Zhu
,
Ying Nian Wu
,
Song-Chun Zhu
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