Ditto in the House: Building Articulation Models of Indoor Scenes through Interactive Perception
Cheng-Chun Hsu,Zhenyu Jiang,Yuke Zhu,Cheng-Chun Hsu,Zhenyu Jiang,Yuke Zhu
Virtualizing the physical world into virtual models has been a critical technique for robot navigation and planning in the real world. To foster manipulation with articulated objects in everyday life, this work explores building articulation models of indoor scenes through a robot's purposeful inter-actions in these scenes. Prior work on articulation reasoning primarily focuses on siloed objects o...
