PageSourceSearch

https://www.jiahuilei.com/projects/nap/

html jiahuilei.com collected 2026-09-25 19:14:19 UTC 20,239 bytes, 385 lines download raw bytes

1<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN""http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
2<html xmlns="http://www.w3.org/1999/xhtml">
3
4<head>
5    <!-- Google tag (gtag.js) -->
6    <!-- Google tag (gtag.js) -->
vendor: 64 bytes, lines 6-7
6
7<script async src="https://www.googletagmanager.com/gtag/js?id=
7G-BDRPWX3H7V
vendor: 12 bytes, line 7
7"></script>
8<script>
9  
vendor: 134 bytes, lines 9-13
9window.dataLayer = window.dataLayer || [];
10  function gtag(){dataLayer.push(arguments);}
11  gtag('js', new Date());
12
13  gtag('config', '
13G-BDRPWX3H7V
vendor: 4 bytes, line 13
13');
14</script>
14
15    <title>NAP NeurIPS2023</title>
16
17    <!-- Meta tags for search engines to crawl -->
18    <meta name="robots" content="index,follow">
19    <meta property='og:title'
20        content='NAP: Neural 3D Articulation Prior' />
21    <meta property='og:url' content='https://www.cis.upenn.edu/~leijh/projects/nap' />
22    <meta property='og:image' content='https://www.cis.upenn.edu/~leijh/projects/nap/images/teaser2.jpg' />
23    <meta property="og:type" content="website" />
24    <link rel="author" href="https://www.cis.upenn.edu/~leijh">
25
26    <!-- Fonts and stuff -->
27    <!--<link href='http://fonts.googleapis.com/css?family=Open+Sans:400italic,700italic,800italic,400,700,800' rel='stylesheet' type='text/css'>-->
28    <link href='https://fonts.googleapis.com/css?family=Source+Sans+Pro:400italic,700italic,800italic,400,700,800'
29        rel='stylesheet' type='text/css' />
30    <link rel="stylesheet" type="text/css" href="css/project_cm.css" media="screen" />
31    <link rel="stylesheet" type="text/css" media="screen" href="css/iconize.css" />
32    <!--
32<script src="js/google-code-prettify/prettify.js"></script>
32-->
33
34    <!-- The following libraries and polyfills are recommended to maximize browser support -->
35    <!-- NOTE: you must adjust the paths as appropriate for your project -->
36
37    <!-- 🚨 REQUIRED: Web Components polyfill to support Edge and Firefox < 63 -->
38    
38<script src="https://unpkg.com/@webcomponents/[email protected]/webcomponents-loader.js"></script>
38
39
40    <!-- 💁 OPTIONAL: Intersection Observer polyfill for better performance in Safari and IE11 -->
41    
41<script src="https://unpkg.com/[email protected]/intersection-observer.js"></script>
41
42
43    <!-- 💁 OPTIONAL: Resize Observer polyfill improves resize behavior in non-Chrome browsers -->
44    
44<script src="https://unpkg.com/[email protected]/dist/ResizeObserver.js"></script>
44
45
46    <!-- 💁 OPTIONAL: Fullscreen polyfill is required for experimental AR features in Canary -->
47    <!--
47<script src="https://unpkg.com/[email protected]/dist/fullscreen.polyfill.js"></script>
47-->
48
49    <!-- 💁 OPTIONAL: Include prismatic.js for Magic Leap support -->
50    <!--
50<script src="https://unpkg.com/@magicleap/[email protected]/prismatic.min.js"></script>
50-->
51
52
53</head>
54
55<body>
56    <div id="content">
57        <div class="section logos">
58            <a href="https://www.grasp.upenn.edu" target="_blank"><img width="18%" src="./images/grasp.svg"></a>
59            <a href="https://cs.stanford.edu" target="_blank"><img width="13%" src="./images/stanford.png"></a>
60        </div>
61
62        <div class="section head">
63            <h2>&#128564;NAP: Neural 3D Articulation Prior</h1>
64
65            <div class="authors">
66                <a href="https://www.cis.upenn.edu/~leijh" target="_blank" class="textLink">Jiahui Lei<sup>1</sup></a>
67                &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
68                <a href="https://cs.stanford.edu/~congyue" target="_blank" class="textLink">Congyue Deng<sup>2</sup></a>
69                &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
70                <a href="https://cs.stanford.edu/people/bshen88/" target="_blank" class="textLink">Bokui Shen<sup>2</sup></a>
71                &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
72                <a href="https://geometry.stanford.edu/member/guibas" target="_blank" class="textLink">Leonidas Guibas<sup>2</sup></a>
73                &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
74                <a href="https://www.cis.upenn.edu/~kostas" target="_blank">Kostas Daniilidis<sup>1<sup></a>
75            </div>
76
77            <div class="affiliations">
78                <a href="https://www.cis.upenn.edu" target="_blank"><strong>University of Pennsylvania</strong><sup>1<sup></a>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
79                <a href="https://cs.stanford.edu" target="_blank"><strong>Stanford University</strong><sup>2<sup></a>
80            </div>
81
82            <div class="venue">
83                <a>NeurIPS 2023</a>
84            </div>
85
86            <div class="section teaser">
87                <img src="./images/teaser2.jpg" width=70%>
88            </div>
89
90            <div class="section downloads">
91                <center>
92                    <ul>
93                        <li class="grid">
94                            <div class="griditem">
95                                <a href="pub/nap_paper_arxiv2023.pdf" target="_blank"
96                                    class="imageLink"><img src="images/paper_thumb.png"></a><br>
97                                Paper<br><a href="pub/nap_paper_arxiv2023.pdf"
98                                    target="_blank">PDF</a>
99                            </div>
100                        </li>
101
102                        <li class="grid">
103                            <div class="griditem">
104                                <a href="pub/nap_suppl_arxiv2023.pdf" target="_blank"
105                                    class="imageLink"><img src="images/supp_thumb.png"></a><br>
106                                Supp<br><a href="pub/nap_suppl_arxiv2023.pdf"
107                                    target="_blank">PDF</a>
108                            </div>
109                        </li>
110
111                        <li class="grid">
112                            <div class="griditem">
113                                <a href="https://github.com/JiahuiLei/NAP" target="_blank" class="imageLink">
114                                    <img src="images/code.png">
115                                </a><br>
116                                Code<br>
117                                <a href="https://github.com/JiahuiLei/NAP" target="_blank">Github</a>
118                            </div>
119                        </li>
120                    </ul>
121                </center>
122            </div>
123        </div>
124
125        <div id="content-inner"> 
126            <div class="section intro">
127            	<center><h2>Abstraction</h2></center>
128            	We propose Neural 3D Articulation Prior (NAP), the first 3D deep generative model to synthesize 3D articulated object models. Despite the extensive research on generating 3D objects, compositions, or scenes, there remains a lack of focus on capturing the distribution of articulated objects, a common object category for human and robot interaction. To generate articulated objects, we first design a novel articulation tree/graph parameterization and then apply a diffusion-den
128oising probabilistic model over this representation where articulated objects can be generated via denoising from random complete graphs. In order to capture both the geometry and the motion structure whose distribution will affect each other, we design a graph-attention denoising network for learning the reverse diffusion process. We propose a novel distance that adapts widely used 3D generation metrics to our novel task to evaluate generation quality, and experiments demonstrate our high performance in articulated object generation. We also demonstrate several conditioned generation applications, including Part2Motion, PartNet-Imagination, Motion2Part, and GAPart2Object.
129			</div>
130
131            <div class="section intro">
132                <center>
133                    <h2>Introduction</h2>
134                    <iframe width="720" height="405"
135                        src="https://www.youtube.com/embed/sphHy2_bN-Y?showinfo=0&controls=1&modestbranding=0&autohide=1&theme=light"
136                        frameborder="0" webkitallowfullscreen mozallowfullscreen allowfullscreen>
137                    </iframe>
138                    <!-- <p>
139                        Watch this video <u><a href="https://www.bilibili.com/video/BV1sm4y1r7Zw/"
140                                target="_blank">here</a></u> on Bilibili in China
141                    </p> -->
142                </center>
143            </div>
144
145            <div class="section intro">
146                <center><h2>Method overview</h2></center>
147                <center>
148                    <img src="./images/main3.jpg" width=100%>
149                </center>
150                
151                <center><h3>Denoising Network</h3></center>
152                <center>
153                    <img src="./images/network3.jpg" width=100%>
154                </center>
155            </div>
156
157
158            <div class="section intro">
159                <center><h2>Unconditional Generation</h2></center>
160                <!-- <center>
161                    <ul>
162                        <li class="pgrid">
163                            <div class="pgriditem">
164                                <img src="./images/results/gen/112.gif">
165                            </div>
166                        </li>
167                        <li class="pgrid">
168                            <div class="pgriditem">
169                                <img src="./images/results/gen/257.gif">
170                            </div>
171                        </li>
172                        <li class="pgrid">
173                            <div class="pgriditem">
174                                <img src="./images/results/gen/297.gif">
175                            </div>
176                        </li>
177                        <li class="pgrid">
178                            <div class="pgriditem">
179                                <img src="./images/results/gen/55.gif">
180                            </div>
181                        </li>
182                    </ul>
183                </center> -->
184                <center>
185                    <table>
186                        <tbody>
187                            <tr>
188                                <td style="padding:0px">
189                                    <img src="./images/results/gen/112.gif" height="100x"></img>
190                                </td>
191                                <td style="padding:0px">
192                                    <img src="./images/results/gen/257.gif" height="100px"></img>
193                                </td>
194                            </tr>
195                            <tr>
196                                <td style="padding:0px">
197                                    <img src="./images/results/gen/297.gif" height="100x"></img>
198                                </td>
199                                <td style="padding:0px">
200                                    <img src="./images/results/gen/55.gif" height="100px"></img>
201                                </td>
202                            </tr>
203                        </tbody>
204                    </table>
205                </center>
206
207
208                <center><h2>Applications</h2></center>
209                <center><h3>Part2Motion</h3></center>
210                <center>
211                    <table>
212                        <thead>
213                            <tr>
214                                <th style="padding:0px">Part Condition</th>
215                                <th style="padding:0px">Completion</th>
216                                <th style="padding:0px">Completion</th>
217                            </tr>
218                        </thead>
219                        <tbody>
220                            <tr>
221                                <td style="padding:0px">
222                                    <img src="./images/results/condition/45007/gt_part.png" height="110x"></img>
223                                </td>
224                                <td style="padding:0px">
225                                    <img src="./images/results/condition/45007/v_condition_15.gif" height="110px"></img>
226                                </td>
227                                <td style="padding:0px">
228                                    <img src="./images/results/condition/45007/v_condition_17.gif" height="110px"></img>
229                                </td>
230                            </tr>
231                            <tr>
232                                <td style="padding:0px">
233                                    <!-- <img src="./images/results/condition/45007/gt_part.png" height="110x"></img> -->
234                                </td>
235                                <td style="padding:0px">
236                                    <img src="./images/results/condition/45007/v_condition_19.gif" height="110px"></img>
237                                </td>
238                                <td style="padding:0px">
239                                    <img src="./images/results/condition/45007/v_condition_8.gif" height="110px"></img>
240                                </td>
241                            </tr>
242                        </tbody>
243                    </table>
244                </center>
245
246                <center><h3>Motion2Part</h3></center>
247                <center>
248                    <table>
249                        <thead>
250                            <tr>
251                                <th style="padding:0px">Motion Condition</th>
252                                <th style="padding:0px">Completion</th>
253                                <th style="padding:0px">Completion</th>
254                            </tr>
255                        </thead>
256                        <tbody>
257                            <tr>
258                                <td style="padding:0px">
259                                    <img src="./images/results/condition/30633/gt_part.png" height="110x"></img>
260                                </td>
261                                <td style="padding:0px">
262                                    <img src="./images/results/condition/30633/e_condition_16.gif" height="110px"></img>
263                                </td>
264                                <td style="padding:0px">
265                                    <img src="./images/results/condition/30633/e_condition_12.gif" height="110px"></img>
266                                </td>
267                            </tr>
268                            <tr>
269                                <td style="padding:0px">
270                                    <img src="./images/results/condition/30633/gt_joint.png" height="110x"></img>
271                                </td>
272                                <td style="padding:0px">
273                                    <img src="./images/results/condition/30633/e_condition_5.gif" height="110px"></img>
274                                </td>
275                                <td style="padding:0px">
276                                    <img src="./images/results/condition/30633/e_condition_7.gif" height="110px"></img>
277                                </td>
278                            </tr>
279                        </tbody>
280                    </table>
281                </center>
282
283                <center><h3>PartNet Imagination</h3></center>
284                <center>
285                    <table>
286                        <thead>
287                            <tr>
288                                <th style="padding:0px">Static Object</th>
289                                <th style="padding:0px">Rigid Group</th>
290                                <th style="padding:0px">Imagination</th>
291                            </tr>
292                        </thead>
293                        <tbody>
294                            <tr>
295                                <td style="padding:0px">
296                                    <img src="./images/results/condition/partnet/8567_input.png" height="150x"></img>
297                                </td>
298                                <td style="padding:0px">
299                                    <img src="./images/results/condition/partnet/8567_group.png" height="150x"></img>
300                                </td>
301                                <td style="padding:0px">
302                                    <img src="./images/results/condition/partnet/8567_th0.5_N6_gen2.gif" height="150x"></img>
303                                </td>
304                            </tr>
305                            <tr>
306                                <td style="padding:0px">
307                                    <img src="./images/results/condition/partnet/177_input.png" height="150x"></img>
308                                </td>
309                                <td style="padding:0px">
310                                    <img src="./images/results/condition/partnet/177_group.png" height="150x"></img>
311                                </td>
312                                <td style="padding:0px">
313                                    <img src="./images/results/condition/partnet/177_th0.5_N6_gen4.gif" height="150x"></img>
314                                </td>
315                            </tr>
316                            <!-- <tr>
317                                <td style="padding:0px">
318                                    <img src="./images/results/condition/partnet/9807_input.png" height="150x"></img>
319                                </td>
320                                <td style="padding:0px">
321                                    <img src="./images/results/condition/partnet/9807_group.png" height="150x"></img>
322                                </td>
323                                <td style="padding:0px">
324                                    <img src="./images/results/condition/partnet/9807_th0.5_N6_gen3.gif" height="150x"></img>
325                                </td>
326                            </tr> -->
327                        </tbody>
328                    </table>
329                </center>
330
331
332                <center><h3>GAPart2Object</h3></center>
333                <center>
334                    <table>
335                        <thead>
336                            <tr>
337                                <th style="padding:0px">GAPart</th>
338                                <th style="padding:0px">Completion</th>
339                                <th style="padding:0px">Completion</th>
340                            </tr>
341                        </thead>
342                        <tbody>
343                            <tr>
344                                <td style="padding:0px">
345                                    <img src="./images/results/condition/gapart/10620/gt_part.png" height="110x"></img>
346                                </td>
347                                <td style="padding:0px">
348                                    <img src="./images/results/condition/gapart/10620/gen_1.gif" height="110x"></img>
349                                </td>
350                                <td style="padding:0px">
351                                    <img src="./images/results/condition/gapart/10620/gen_2.gif" height="110x"></img>
352                                </td>
353                            </tr>
354                            <tr>
355                                <td style="padding:0px">
356                                    <img src="./images/results/condition/gapart/46334/gt_part.png" height="110x"></img>
357                                </td>
358                                <td style="padding:0px">
359                                    <img src="./images/results/condition/gapart/46334/gen_7.gif" height="110x"></img>
360                                </td>
361                                <td style="padding:0px">
362                                    <img src="./images/results/condition/gapart/46334/gen_11.gif" height="110x"></img>
363                                </td>
364                            </tr>
365                        </tbody>
366                    </table>
367                </center>
368                
369            </div>
370        </div>
371    </div>
372    </div>
373
374    <!-- 💁 Include both scripts below to support all browsers! -->
375    <!-- Loads <model-viewer> for modern browsers: -->
376    <!-- 
376<script type="module" src="https://unpkg.com/@google/model-viewer/dist/model-viewer.js"> -->
377    <!-- </script>
377 -->
378
379    <!-- Loads <model-viewer> for old browsers like IE11: -->
380    <!-- 
380<script nomodule src="https://unpkg.com/@google/model-viewer/dist/model-viewer-legacy.js"> -->
381    <!-- </script>
381 -->
382
383</body>
384
385</html>

Line numbers count LF bytes from the start of the resource, as the search results do. Vendor segments are library code the classifier recognised; they are stored but not indexed. Bytes are shown as Latin1 characters, one per byte.