Related papers: SOPHY: Learning to Generate Simulation-Ready Objec…

This paper proposes ShapeShifter, a new 3D generative model that learns to synthesize shape variations based on a single reference model. While generative methods for 3D objects have recently attracted much attention, current techniques…

Scalable sensor simulation is an important yet challenging open problem for safety-critical domains such as self-driving. Current works in image simulation either fail to be photorealistic or do not model the 3D environment and the dynamic…

A crucial ability of human intelligence is to build up models of individual 3D objects from partial scene observations. Recent works achieve object-centric generation but without the ability to infer the representation, or achieve 3D scene…

When humans grasp an object, they naturally form trajectories in their minds to manipulate it for specific tasks. Modeling hand-object interaction priors holds significant potential to advance robotic and embodied AI systems in learning to…

Given large amount of real photos for training, Convolutional neural network shows excellent performance on object recognition tasks. However, the process of collecting data is so tedious and the background are also limited which makes it…

Synthetic data has emerged as a promising source for 3D human research as it offers low-cost access to large-scale human datasets. To advance the diversity and annotation quality of human models, we introduce a new synthetic dataset,…

Robotic grasping of house-hold objects has made remarkable progress in recent years. Yet, human grasps are still difficult to synthesize realistically. There are several key reasons: (1) the human hand has many degrees of freedom (more than…

Understanding causes and effects in mechanical systems is an essential component of reasoning in the physical world. This work poses a new problem of counterfactual learning of object mechanics from visual input. We develop the CoPhy…

Many surface cues support three-dimensional shape perception, but people can sometimes still see shape when these features are missing -- in extreme cases, even when an object is completely occluded, as when covered with a draped cloth. We…

We introduce ShapeWords, an approach for synthesizing images based on 3D shape guidance and text prompts. ShapeWords incorporates target 3D shape information within specialized tokens embedded together with the input text, effectively…

Recent breakthroughs in 3D generation have enabled the synthesis of high-fidelity individual assets. However, generating 3D compositional objects from single images--particularly under occlusions--remains challenging. Existing methods often…

We revisit human motion synthesis, a task useful in various real world applications, in this paper. Whereas a number of methods have been developed previously for this task, they are often limited in two aspects: focusing on the poses while…

Recent progress in video generation has led to substantial improvements in visual fidelity, yet ensuring physically consistent motion remains a fundamental challenge. Intuitively, this limitation can be attributed to the fact that…

We present a deep generative scene modeling technique for indoor environments. Our goal is to train a generative model using a feed-forward neural network that maps a prior distribution (e.g., a normal distribution) to the distribution of…

Creating and editing the shape and color of 3D objects require tremendous human effort and expertise. Compared to direct manipulation in 3D interfaces, 2D interactions such as sketches and scribbles are usually much more natural and…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

3D objects (artefacts) are made to fulfill functions. Designing an object often starts with defining a list of functionalities that it should provide, also known as functional requirements. Today, the design of 3D object models is still a…

This paper presents a novel framework for modeling and conditional generation of 3D articulated objects. Troubled by flexibility-quality tradeoffs, existing methods are often limited to using predefined structures or retrieving shapes from…

World models have become indispensable tools for embodied intelligence, serving as powerful simulators capable of generating realistic robotic videos while addressing critical data scarcity challenges. However, current embodied world models…

We propose a novel task of text-controlled human object interaction generation in 3D scenes with movable objects. Existing human-scene interaction datasets suffer from insufficient interaction categories and typically only consider…