Related papers: 3D-Belief: Embodied Belief Inference via Generativ…
Diffusion models currently achieve state-of-the-art performance for both conditional and unconditional image generation. However, so far, image diffusion models do not support tasks required for 3D understanding, such as view-consistent 3D…
Creating realistic and simulation-ready 3D assets is crucial for autonomous driving research and virtual environment construction. However, existing 3D vehicle generation methods are often trained on synthetic data with significant domain…
Recent advances in 3D generation have improved the fidelity and geometric details of synthesized 3D assets. However, due to the inherent ambiguity of single-view observations and the lack of robust global structural priors caused by limited…
Generative world models are reshaping embodied AI, enabling agents to synthesize realistic 4D driving environments that look convincing but often fail physically or behaviorally. Despite rapid progress, the field still lacks a unified way…
Global illumination (GI) is essential for realistic rendering but remains computationally expensive due to the complexity of simulating indirect light transport. Recent neural methods have mainly relied on per-scene optimization, sometimes…
When perceiving the world from multiple viewpoints, humans have the ability to reason about the complete objects in a compositional manner even when an object is completely occluded from certain viewpoints. Meanwhile, humans are able to…
Many important robotics problems are partially observable in the sense that a single visual or force-feedback measurement is insufficient to reconstruct the state. Standard approaches involve learning a policy over beliefs or…
Recent research has been increasingly focusing on developing 3D world models that simulate complex real-world scenarios. World models have found broad applications across various domains, including embodied AI, autonomous driving,…
Physical awareness, especially in a large and dynamic environment, is shaped by sensing decisions that determine observability across space, time, and scale, while observations impact the quality of sensing decisions. This loopy information…
Building an efficient and physically consistent world model from limited observations is a long standing challenge in vision and robotics. Many existing world modeling pipelines are based on implicit generative models, which are hard to…
What is a good vector representation of an object? We believe that it should be generative in 3D, in the sense that it can produce new 3D objects; as well as be predictable from 2D, in the sense that it can be perceived from 2D images. We…
Creating large-scale interactive 3D environments is essential for the development of Robotics and Embodied AI research. Current methods, including manual design, procedural generation, diffusion-based scene generation, and large language…
Recent breakthroughs in autonomous driving have been propelled by advances in robust world modeling, fundamentally transforming how vehicles interpret dynamic scenes and execute safe decision-making. World models have emerged as a linchpin…
Trained on internet-scale video data, generative world models are increasingly recognized as powerful world simulators that can generate consistent and plausible dynamics over structure, motion, and physics. This raises a natural question:…
Generative models are increasingly used in 3D vision to synthesize novel shapes, yet it remains unclear whether their generation relies on memorizing training shapes. Understanding their memorization could help prevent training data leakage…
The capability of imagining internally with a mental model of the world is vitally important for human cognition. If a machine intelligent agent can learn a world model to create a "dream" environment, it can then internally ask what-if…
Learning how to model complex scenes in a modular way with recombinable components is a pre-requisite for higher-order reasoning and acting in the physical world. However, current generative models lack the ability to capture the inherently…
Recent advances in 3D perception have shown impressive progress in understanding geometric structures of 3Dshapes and even scenes. Inspired by these advances in geometric understanding, we aim to imbue image-based perception with…
Bird's-Eye View (BEV) features are popular intermediate scene representations shared by the 3D backbone and the detector head in LiDAR-based object detectors. However, little research has been done to investigate how to incorporate…
Social interactions incorporate nonverbal signals to convey emotions alongside speech, including facial expressions and body gestures. Generative models have demonstrated promising results in creating full-body nonverbal animations…