相关论文: Learning rigid-body simulators over implicit shape…

Implicit neural representations have emerged as a powerful approach for encoding complex geometries as continuous functions. These implicit models are widely used in computer vision and 3D content creation, but their integration into…

General scene understanding for robotics requires flexible semantic representation, so that novel objects and structures which may not have been known at training time can be identified, segmented and grouped. We present an algorithm which…

Neural fields have emerged as a powerful framework for representing continuous multidimensional signals such as images and videos, 3D and 4D objects and scenes, and radiance fields. While efficient, achieving high-quality representation…

Fast and light-weight methods for animating 3D characters are desirable in various applications such as computer games. We present a learning-based approach to enhance skinning-based animations of 3D characters with vivid secondary motion…

Learning 3D shape representation with dense correspondence for deformable objects is a fundamental problem in computer vision. Existing approaches often need additional annotations of specific semantic domain, e.g., skeleton poses for human…

Recent progress in neural implicit functions has set new state-of-the-art in reconstructing high-fidelity 3D shapes from a collection of images. However, these approaches are limited to closed surfaces as they require the surface to be…

Despite existing 3D cloth simulators producing realistic results, they predominantly operate on discrete surface representations (e.g. points and meshes) with a fixed spatial resolution, which often leads to large memory consumption and…

Neural fields, coordinate-based neural networks, have recently gained popularity for implicitly representing a scene. In contrast to classical methods that are based on explicit representations such as point clouds, neural fields provide a…

Scene Completion is the task of completing missing geometry from a partial scan of a scene. Most previous methods compute an implicit representation from range data using a Truncated Signed Distance Function (T-SDF) computed on a 3D grid as…

We present Gradient-SDF, a novel representation for 3D geometry that combines the advantages of implict and explicit representations. By storing at every voxel both the signed distance field as well as its gradient vector field, we enhance…

We address the problem of clothed human reconstruction from a single image or uncalibrated multi-view images. Existing methods struggle with reconstructing detailed geometry of a clothed human and often require a calibrated setting for…

Methods allowing the synthesis of realistic cell shapes could help generate training data sets to improve cell tracking and segmentation in biomedical images. Deep generative models for cell shape synthesis require a light-weight and…

We present GridFF, an efficient method for simulating molecules on rigid substrates, derived from techniques used in protein-ligand docking in biochemistry. By projecting molecule-substrate interactions onto precomputed spatial grids with…

Ensuring safety and robustness of robot skills is becoming crucial as robots are required to perform increasingly complex and dynamic tasks. The former is essential when performing tasks in cluttered environments, while the latter is…

\textit{Implicit neural representations} (INRs) have emerged as a promising framework for representing signals in low-dimensional spaces. This survey reviews the existing literature on the specialized INR problem of approximating…

This paper presents GSWorld, a robust, photo-realistic simulator for robotics manipulation that combines 3D Gaussian Splatting with physics engines. Our framework advocates "closing the loop" of developing manipulation policies with…

In specific scenarios, face sketch can be used to identify a person. However, drawing a face sketch often requires exceptional skill and is time-consuming, limiting its widespread applications in actual scenarios. The new framework of…

Accurately modeling soft robots in simulation is computationally expensive and commonly falls short of representing the real world. This well-known discrepancy, known as the sim-to-real gap, can have several causes, such as coarsely…

Implicit neural field generating signed distance field representations (SDFs) of 3D shapes have shown remarkable progress in 3D shape reconstruction and generation. We introduce a new paradigm for neural field representations of 3D scenes;…

Neural fields have revolutionized the area of 3D reconstruction and novel view synthesis of rigid scenes. A key challenge in making such methods applicable to articulated objects, such as the human body, is to model the deformation of 3D…