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

In visual computing, 3D geometry is represented in many different forms including meshes, point clouds, voxel grids, level sets, and depth images. Each representation is suited for different tasks thus making the transformation of one…

Several physical systems in condensed matter have been modeled approximating their constituent particles as hard objects. The hard spheres model has been indeed one of the cornerstones of the computational and theoretical description in…

Constructing and animating humans is an important component for building virtual worlds in a wide variety of applications such as virtual reality or robotics testing in simulation. As there are exponentially many variations of humans with…

Accurate and efficient simulation of modern robots remains challenging due to their high degrees of freedom and intricate mechanisms. Neural simulators have emerged as a promising alternative to traditional analytical simulators, capable of…

Despite advancements in Neural Implicit models for 3D surface reconstruction, handling dynamic environments with interactions between arbitrary rigid, non-rigid, or deformable entities remains challenging. The generic reconstruction methods…

We present a near real-time method for 6-DoF tracking of an unknown object from a monocular RGBD video sequence, while simultaneously performing neural 3D reconstruction of the object. Our method works for arbitrary rigid objects, even when…

This paper presents a novel approach for accelerating n-body simulations by integrating a physics-informed graph neural networks (GNN) with traditional numerical methods. Our method implements a leapfrog-based simulation engine to generate…

Differentiable physical simulators are proving to be valuable tools for developing data-driven models for computational fluid dynamics (CFD). In particular, these simulators enable end-to-end training of machine learning (ML) models…

Implicit Neural Representations have gained prominence as a powerful framework for capturing complex data modalities, encompassing a wide range from 3D shapes to images and audio. Within the realm of 3D shape representation, Neural Signed…

Implicit neural representation has demonstrated promising results in 3D reconstruction on various scenes. However, existing approaches either struggle to model fast-moving objects or are incapable of handling large-scale camera ego-motions…

An important challenge in robotics is understanding the interactions between robots and deformable terrains that consist of granular material. Granular flows and their interactions with rigid bodies still pose several open questions. A…

Soft tissue simulation in virtual environments is becoming increasingly important for medical applications. However, the high deformability of soft tissue poses significant challenges. Existing methods rely on segmentation, meshing and…

We present a method for efficient differentiable simulation of articulated bodies. This enables integration of articulated body dynamics into deep learning frameworks, and gradient-based optimization of neural networks that operate on…

Neural rendering can be used to reconstruct implicit representations of shapes without 3D supervision. However, current neural surface reconstruction methods have difficulty learning high-frequency geometry details, so the reconstructed…

We present a neural-field-based large-scale reconstruction system that fuses lidar and vision data to generate high-quality reconstructions that are geometrically accurate and capture photo-realistic textures. This system adapts the…

Autonomous safe navigation in unstructured and novel environments poses significant challenges, especially when environment information can only be provided through low-cost vision sensors. Although safe reactive approaches have been…

Learning the physical simulation on large-scale meshes with flat Graph Neural Networks (GNNs) and stacking Message Passings (MPs) is challenging due to the scaling complexity w.r.t. the number of nodes and over-smoothing. There has been…

Signed distance-radiance field (SDF-NeRF) is a promising environment representation that offers both photo-realistic rendering and geometric reasoning such as proximity queries for collision avoidance. However, the slow training speed and…

Surface reconstruction from multi-view images is a core challenge in 3D vision. Recent studies have explored signed distance fields (SDF) within Neural Radiance Fields (NeRF) to achieve high-fidelity surface reconstructions. However, these…

The test-time optimization of scene flow - using a coordinate network as a neural prior - has gained popularity due to its simplicity, lack of dataset bias, and state-of-the-art performance. We observe, however, that although coordinate…