相关论文: ClutterGen: A Cluttered Scene Generator for Robot …

Creating high-fidelity 3D models of indoor environments is essential for applications in design, virtual reality, and robotics. However, manual 3D modeling remains time-consuming and labor-intensive. While recent advances in generative AI…

The visual world we sense, interpret and interact everyday is a complex composition of interleaved physical entities. Therefore, it is a very challenging task to generate vivid scenes of similar complexity using computers. In this work, we…

Robots often face situations where grasping a goal object is desirable but not feasible due to other present objects preventing the grasp action. We present a deep Reinforcement Learning approach to learn grasping and pushing policies for…

Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…

Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…

Diverse and realistic traffic scenarios are crucial for evaluating the AI safety of autonomous driving systems in simulation. This work introduces a data-driven method called TrafficGen for traffic scenario generation. It learns from the…

Imitation learning is a promising paradigm for training robot control policies, but these policies can suffer from distribution shift, where the conditions at evaluation time differ from those in the training data. A popular approach for…

Robotic grasping in cluttered environments remains a significant challenge due to occlusions and complex object arrangements. We have developed ThinkGrasp, a plug-and-play vision-language grasping system that makes use of GPT-4o's advanced…

Controllable synthetic data generation can substantially lower the annotation cost of training data. Prior works use diffusion models to generate driving images conditioned on the 3D object layout. However, those models are trained on…

Spatial computing experiences are constrained by the real-world surroundings of the user. In such experiences, augmenting virtual objects to existing scenes require a contextual approach, where geometrical conflicts are avoided, and…

Imitation learning from human demonstrations is an effective paradigm for robot manipulation, but acquiring large datasets is costly and resource-intensive, especially for long-horizon tasks. To address this issue, we propose SkillMimicGen…

We present RLSS: a reinforcement learning algorithm for sequential scene generation. This is based on employing the proximal policy optimization (PPO) algorithm for generative problems. In particular, we consider how to effectively reduce…

Animating human-scene interactions such as pick-and-place tasks in cluttered, complex layouts is a challenging task, with objects of a wide variation of geometries and articulation under scenarios with various obstacles. The main difficulty…

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…

Scene generation has extensive industrial applications, demanding both high realism and precise control over geometry and appearance. Language-driven retrieval methods compose plausible scenes from a large object database, but overlook…

We address the important problem of generalizing robotic rearrangement to clutter without any explicit object models. We first generate over 650K cluttered scenes - orders of magnitude more than prior work - in diverse everyday…

Simulation plays a crucial role in the development of autonomous vehicles (AVs) due to the potential risks associated with real-world testing. Although significant progress has been made in the visual aspects of simulators, generating…

Imitation learning from a large set of human demonstrations has proved to be an effective paradigm for building capable robot agents. However, the demonstrations can be extremely costly and time-consuming to collect. We introduce MimicGen,…

Realistic and diverse traffic scenarios in large quantities are crucial for the development and validation of autonomous driving systems. However, owing to numerous difficulties in the data collection process and the reliance on intensive…

Generating realistic 3D indoor scenes from user inputs remains a challenging problem in computer vision and graphics, requiring careful balance of geometric consistency, spatial relationships, and visual realism. While neural generation…