Many functional elements of human homes and workplaces consist of rigid
components which are connected through one or more sliding or rotating
linkages. Examples include doors and drawers of cabinets and appliances;
laptops; and swivel office chairs. A robotic mobile manipulator would
本论文提出了一种基于自监督学习的方法,仅仅通过一组彩色图像就能够学习到一个关节物体类的几何、外表和动作的表示,从而实现这些语义维度的独立控制,该方法不需要形态学的注释,相对于现有的采用 3D 直接监督的各种方法,使用本方法只需 2D 观测即可恢复更精准的几何和外观,并且具有少样本重建、新关节生成和新视角综合生成等众多应用。