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| Autori principali: | , , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2605.29661 |
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| _version_ | 1866911727155675136 |
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| author | Ma, Yiyao Chen, Kai Zhou, Zhongxiang Song, Zhuheng Xie, Dongsheng Tan, Zelong Xiong, Rong Dou, Qi |
| author_facet | Ma, Yiyao Chen, Kai Zhou, Zhongxiang Song, Zhuheng Xie, Dongsheng Tan, Zelong Xiong, Rong Dou, Qi |
| contents | Monocular 3D shape recovery is fundamental to geometric understanding, yet achieving robust generalization across arbitrary viewpoints and unseen object categories remains a significant challenge. In this paper, we present a generalizable deformation learning framework that reconstructs 3D objects by explicitly deforming a category-level shape template to match the target observation. To address complex shape variations between the template and the target, we introduce a geometry-guided feature modeling mechanism. This process first enriches foundation features with template topology to yield a geometry-aware representation, which is then explicitly correlated with the target observation to guide precise deformation. Furthermore, to bridge the disparity between the fixed template and arbitrary target views, we propose a view-adaptive feature aggregation module. This module leverages multi-view template features and their corresponding camera poses to enrich the canonical template representation, ensuring robust feature alignment regardless of the target's perspective. Extensive experiments demonstrate that our approach significantly outperforms state-of-the-art methods in handling large shape variations and diverse viewpoints, exhibiting strong generalization to novel categories and effectively supporting downstream real-world dexterous robotic manipulation tasks. Project homepage: https://GODeform.github.io/ |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_29661 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Geometry-Guided Modeling of Foundation Features Enables Generalizable Object Shape Deformation Learning Ma, Yiyao Chen, Kai Zhou, Zhongxiang Song, Zhuheng Xie, Dongsheng Tan, Zelong Xiong, Rong Dou, Qi Computer Vision and Pattern Recognition Monocular 3D shape recovery is fundamental to geometric understanding, yet achieving robust generalization across arbitrary viewpoints and unseen object categories remains a significant challenge. In this paper, we present a generalizable deformation learning framework that reconstructs 3D objects by explicitly deforming a category-level shape template to match the target observation. To address complex shape variations between the template and the target, we introduce a geometry-guided feature modeling mechanism. This process first enriches foundation features with template topology to yield a geometry-aware representation, which is then explicitly correlated with the target observation to guide precise deformation. Furthermore, to bridge the disparity between the fixed template and arbitrary target views, we propose a view-adaptive feature aggregation module. This module leverages multi-view template features and their corresponding camera poses to enrich the canonical template representation, ensuring robust feature alignment regardless of the target's perspective. Extensive experiments demonstrate that our approach significantly outperforms state-of-the-art methods in handling large shape variations and diverse viewpoints, exhibiting strong generalization to novel categories and effectively supporting downstream real-world dexterous robotic manipulation tasks. Project homepage: https://GODeform.github.io/ |
| title | Geometry-Guided Modeling of Foundation Features Enables Generalizable Object Shape Deformation Learning |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2605.29661 |