ParCo-SDF: Learning Prior-Free Partial-to-Complete Signed Distance Fields of Deformable Objects
For robotic manipulation of deformable objects, this method enables prior-free reconstruction, improving generalization over existing approaches that rely on object-specific priors.
This work tackles partial-to-complete geometry reconstruction of deformable objects from point clouds, achieving robust and high-fidelity reconstruction under severe occlusions without object-specific shape priors.
This study addresses the partial-to-complete geometry reconstruction of deformable objects (DOs) from point-cloud observations toward precise DO manipulation. Recent DO reconstruction approaches often adopt implicit neural representations (INRs) to model continuous surfaces as well as capture structural variability. However, these methods typically rely on object-specific shape priors that improve training stability and limit generalization. To figure it out, we introduce ParCo-SDF, a two-stage partial-to-complete signed distance field (SDF) reconstruction framework consisting of temporal geometry encoding followed by FiLM-conditioned SDF prediction. The temporal encoder captures structural similarity across DO sequence, enabling prior-free stable training. FiLM-based conditioning preserves reconstruction expressivity while reducing network complexity. We evaluate the proposed method against a state-of-the-art DO surface reconstruction baseline on a rubber band manipulation dataset, demonstrating robust and high-fidelity reconstruction under severe occlusions.