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Gaussian Splatting can now handle complex articulated objects with multiple movable parts, thanks to a new geometry-motion alternating refinement strategy that leverages 2D segmentation priors.
Robots can now learn manipulation affordances from human demos with better contact pose accuracy, thanks to a new pipeline that automatically infers 3D pose-centered labels.
Forget manually annotating robot skills: Uni-Skill automatically evolves a skill library from unstructured video, enabling zero-shot generalization to novel manipulation tasks.
