We introduce a novel representation for learning and generating Computer-Aided Design (CAD) models in the form of boundary representations (B-Reps). Our representation unifies the continuous geometric properties of B-Rep primitives in different orders (e.g., surfaces and curves) and their discrete topological relations in a holistic latent (HoLa) space. This is based on the simple observation that the topological connection between two surfaces is intrinsically tied to the geometry of their intersecting curve. Such a prior allows us to reformulate topology learning in B-Reps as a geometric reconstruction problem in Euclidean space. Specifically, we eliminate the presence of curves, vertices, and all the topological connections in the latent space by learning to distinguish and derive curve geometries from a pair of surface primitives via a neural intersection network. To this end, our holistic latent space is only defined on surfaces but encodes a full B-Rep model, including the geometry of surfaces, curves, vertices, and their topological relations. Our compact and holistic latent space facilitates the design of a first diffusion-based generator to take on a large variety of inputs including point clouds, single/multi-view images, 2D sketches, and text prompts. Our method significantly reduces ambiguities, redundancies, and incoherences among the generated B-Rep primitives, as well as training complexities inherent in prior multi-step B-Rep learning pipelines, while achieving greatly improved validity rate over current state of the art: 82% vs. ≈50%.

Extended reality (XR) technologies are highly suited in assisting individuals in learning motor skills and movements—referred to as motion guidance. In motion guidance, the “feedforward’’ provides instructional cues of the motions that are to be performed, whereas the “feedback’’ provides cues which help correct mistakes and minimize errors. Designing synergistic feedforward and feedback is vital to providing an effective learning experience, but this interplay between the two has not yet been adequately explored. Based on a survey of the literature, we propose design space for both motion feedforward and corrective feedback in XR, and describe the interaction effects between them. We identify common design approaches of XR-based motion guidance found in our literature corpus, and discuss them through the lens of our design dimensions. We then discuss additional contextual factors and considerations that influence this design, together with future research opportunities for motion guidance in XR.

We contribute MolecuSense, a virtual version of a physical molecule construction kit, based on visualization in Virtual Reality (VR) and interaction with force-feedback gloves. Targeting at chemistry education, our goal is to make virtual molecule structures more tangible. Results of an initial user study indicate that the VR molecular construction kit was positively received. Compared to a physical construction kit, the VR molecular construction kit is on the same level in terms of natural interaction. Besides, it fosters the typical digital advantages though, such as saving, exporting, and sharing of molecules. Feedback from the study participants has also revealed potential future avenues for tangible molecule visualizations.

We investigate how Mixed Reality (MR) can be used to guide human body motions, such as in physiotherapy, dancing, or workout applications. While first MR prototypes have shown promising results, many dimensions of the design space behind such applications remain largely unexplored. To better understand this design space, we approach the topic from different angles by contributing three user studies. In particular, we take a closer look at the influence of the perspective, the characteristics of motions, and visual guidance on different user performance measures. Our results indicate that a first-person perspective performs best for all visible motions, whereas the type of visual instruction plays a minor role. From our results we compile a set of considerations that can guide future work on the design of instructions, evaluations, and the technical setup of MR motion guidance systems.

Accurate object 6D pose estimation is a core task for robot bin-picking applications, especially when objects are randomly stacked with heavy occlusion. To address this problem, this paper proposes a simple but novel Point-wise Pose Regression Network (PPR-Net). For each point in the point cloud, the network regresses a 6D pose of the object instance that the point belongs to. We argue that the regressed poses of points from the same object instance should be located closely in pose space. Thus, these points can be clustered into different instances and their corresponding objects' 6D poses can be estimated simultaneously. In our experiments, PPR-Net outperforms the state-of-the-art approach by 15% - 41% in average precision when evaluated on the benchmark Siléane dataset. In addition, it also works well in real world robot bin-picking tasks.