Master Thesis: Discovering neural parts in objects with invertible NNs for robot grasping

In this thesis, we will investigate the use of 3D primitive representations in objects using Invertible Neural Networks (INNs). Through INNs we can learn the implicit surface function of the objects and their mesh. Apart from  extracting the object’s shape, we can parse the object into semantically interpretable parts. In our work our main focus will be to segment the parts in objects that are semantically related to object affordances. Moreover, the implicit representation of the primitive can allow us to compute directly the grasp configuration of the object, allowing grasp planning.

Interested students are expected to have experience with Computer Vision and Deep Learning, but also know how to program in Python using DL libraries like PyTorch. The thesis will be co-supervised by Despoina Paschalidou (Ph.D. candidate at the Max Planck Institute for Intelligent Systems and the Max Planck ETH Center for Learning Systems). Highly motivated students can apply by sending an e-mail expressing your interest to, attaching your CV and transcripts.


[1] Paschalidou, Despoina, Angelos Katharopoulos, Andreas Geiger, and Sanja Fidler. “Neural Parts: Learning expressive 3D shape abstractions with invertible neural networks.” arXiv preprint arXiv:2103.10429 (2021).

[2] Karunratanakul, Korrawe, Jinlong Yang, Yan Zhang, Michael Black, Krikamol Muandet, and Siyu Tang. “Grasping Field: Learning Implicit Representations for Human Grasps.” arXiv preprint arXiv:2008.04451 (2020).

[3] Chao, Yu-Wei, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj S. Narang et al. “DexYCB: A Benchmark for Capturing Hand Grasping of Objects.” arXiv preprint arXiv:2104.04631 (2021).

[4] Do, Thanh-Toan, Anh Nguyen, and Ian Reid. “Affordancenet: An end-to-end deep learning approach for object affordance detection.” In 2018 IEEE international conference on robotics and automation (ICRA), pp. 5882-5889. IEEE, 2018.

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