PhysVGGT is a feed‑forward model that predicts dense maps of friction coefficient, Shore hardness, Young's modulus, and density, along with object‑level mass, from a single RGB image in one forward pass. It treats physical property estimation as a dense per‑pixel prediction problem, using a visual geometry transformer to extract geometry‑aware tokens and separate dense and global prediction branches. A scalable pseudo‑label generation pipeline enables large‑scale weakly supervised training, and the model achieves state‑of‑the‑art performance on the ABO‑500 dataset while running 27× faster than previous methods.
By Sneha Paul, Guile Wu, Bingbing Liu, Dongfeng Bai
arXiv:2609.26756v1 Announce Type: new
Abstract: X-ray is medicine's most widely used imaging modality, yet remains among its least quantitative. Unlike volumetric modalities like CT or MRI, X-ray col...
By Victor Ion Butoi, Vivek Gopalakrishnan, John V. Guttag, Adrian V. Dalca, Neel Dey
Predicting object dynamics (i. e.
arXiv:2606. 19451v1 Announce Type: new Abstract: We introduce 3D-DLP, a self-supervised object-centric representation learning model that decomposes scene-level RGB-D or voxel observations into a set of 3D latent particles.
By Ellina Zhang, Madhaven Iyengar, Amir Zadeh, Chuan Li, Deepak Pathak, David Held, Tal Daniel
arXiv:2608. 19776v1 Announce Type: cross Abstract: Current dexterous grasp planners primarily optimize for physical stability, focusing on whether an object can be grasped rather than how it should be grasped to support downstream functional tasks.
By Julien Merand, Boris Meden, Liming Chen, Mathieu Grossard
arXiv:2608. 19759v1 Announce Type: cross Abstract: Multifingered grasping is a crucial robotic skill, but current deep-learning grasp planners often struggle to generalize to new objects because they are trained on limited, object-specific datasets.
By Julien Merand, Boris Meden, Mathieu Grossard, Liming Chen
RoboCousin is an extensible simulation platform that transforms user-provided observations into reusable assets, scenes, and expert trajectories for bimanual robotic manipulation. It converts object images into simulation-ready models with visual, collision, semantic, and physical metadata, automatically generates grasp candidates, and builds digital cousins that vary objects, backgrounds, layouts, and language instructions while preserving task-relevant affordances. The platform supports both tabletop and room-level scene construction, and the authors release RoboCousin-OBD with over 3,000 annotated objects and 50 backgrounds, generating more than one million expert trajectories across 50 tasks, with simulation and real-robot experiments demonstrating comparable annotation quality and effective sim-to-real transfer.
By Jingxuan Zhu, Jingyi Li, LiangLiang Chen, Zhiyuan Jing, Jidong Zhang, Hongming Li
FunArt is a framework that builds articulation‑aware functional 3D scene graphs from a single static RGB‑D observation. It reconstructs object instances, converts their geometry into the O‑Voxel representation of TRELLIS.2, and uses a frozen sparse‑compression VAE as a structural prior. A lightweight query‑based decoder jointly segments movable parts and functional interactive elements while estimating motion type, axis, origin, and range, achieving state‑of‑the‑art results on the Articulate3D dataset.
By Dennis Rotondi, Abdelrhman Werby, Kai O. Arras
arXiv:2606. 26700v1 Announce Type: cross Abstract: Motion feasibility prediction plays a central role in robotics, particularly in task and motion planning and manipulation.
By Sajid Ansari, Arthi, Girish Varma, Antony Thomas
G6D is a learning‑free, geometry‑driven RGB‑D 6D pose solver designed for robotic manipulation. It generates pose hypotheses via template‑based geometric matching and refines them using silhouette and depth consistency, requiring only an RGB‑D observation, an object mask, camera intrinsics, and a CAD model. The method offers adjustable accuracy‑computation trade‑offs, can run on CPU without GPUs, and has shown strong performance on LineMOD and BOP19 datasets, as well as in real‑world pick‑and‑place experiments.
By Yixuan Liang (Tsinghua University), William Chen (Sapient Intelligence), Yunan Wang (Tsinghua University), Jizhou Yan (Tsinghua University), Zhao Jin (Tsinghua University), Changling Liu (Sapient Intelligence), Chuxiong Hu (Tsinghua University)
arXiv:2604. 04690v2 Announce Type: replace-cross Abstract: Bin picking in real industrial environments remains challenging due to severe clutter, occlusions, and the high cost of traditional 3D sensing setups.
By Alessandro Tarsi, Matteo Mastrogiuseppe, Saverio Taliani, Simone Cortinovis, Ugo Pattacini
The paper introduces a generalizable deformation learning framework that reconstructs 3D objects by deforming a category-level shape template to match a monocular observation. It employs a geometry-guided feature modeling mechanism to enrich foundation features with template topology, creating a geometry-aware representation that is explicitly correlated with the target observation for precise deformation. A view-adaptive feature aggregation module further bridges the gap between the fixed template and arbitrary target views by leveraging multi-view template features and camera poses, ensuring robust feature alignment across diverse viewpoints.
By Yiyao Ma, Kai Chen, Zhongxiang Zhou, Zhuheng Song, Dongsheng Xie, Zelong Tan, Rong Xiong, Qi Dou