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

Robotic grasping in cluttered environments is often infeasible due to obstacles preventing possible grasps. Then, pre-grasping manipulation like shifting or pushing an object becomes necessary. We developed an algorithm that can learn, in…

Developing deep neural networks to generate 3D scenes is a fundamental problem in neural synthesis with immediate applications in architectural CAD, computer graphics, as well as in generating virtual robot training environments. This task…

Recurrent feedback connections in the mammalian visual system have been hypothesized to play a role in synthesizing input in the theoretical framework of analysis by synthesis. The comparison of internally synthesized representation with…

Object recognition and object pose estimation in robotic grasping continue to be significant challenges, since building a labelled dataset can be time consuming and financially costly in terms of data collection and annotation. In this…

Generating high-fidelity 3D indoor scenes remains a significant challenge due to data scarcity and the complexity of modeling intricate spatial relations. Current methods often struggle to scale beyond training distribution to dense scenes…

The advancement of Embodied AI heavily relies on large-scale, simulatable 3D scene datasets characterized by scene diversity and realistic layouts. However, existing datasets typically suffer from limitations in data scale or diversity,…

Controllable scene synthesis aims to create interactive environments for various industrial use cases. Scene graphs provide a highly suitable interface to facilitate these applications by abstracting the scene context in a compact manner.…

Although recent complex scene conditional generation models generate increasingly appealing scenes, it is very hard to assess which models perform better and why. This is often due to models being trained to fit different data splits, and…

Scalability in terms of object density in a scene is a primary challenge in unsupervised sequential object-oriented representation learning. Most of the previous models have been shown to work only on scenes with a few objects. In this…

We present a Polyhedral Scene Generator system which creates a random scene based on a few user parameters, renders the scene from random view points and creates a dataset containing the renderings and corresponding annotation files. We…

We introduce Adaptive Procedural Task Generation (APT-Gen), an approach to progressively generate a sequence of tasks as curricula to facilitate reinforcement learning in hard-exploration problems. At the heart of our approach, a task…

Training data is the key ingredient for deep learning approaches, but difficult to obtain for the specialized domains often encountered in robotics. We describe a synthesis pipeline capable of producing training data for cluttered scene…

Motion planning is challenging for multiple robots in cluttered environments without communication, especially in view of real-time efficiency, motion safety, distributed computation, and trajectory optimality, etc. In this paper, a…

Generating high-fidelity, physically interactive 3D simulated tabletop scenes is essential for embodied AI -- especially for robotic manipulation policy learning and data synthesis. However, current text- or image-driven 3D scene generation…

In this paper, we address the task of semantic-guided scene generation. One open challenge in scene generation is the difficulty of the generation of small objects and detailed local texture, which has been widely observed in global…

Machine learning based autonomous driving systems often face challenges with safety-critical scenarios that are rare in real-world data, hindering their large-scale deployment. While increasing real-world training data coverage could…

Sequentially interacting with articulated objects is crucial for a mobile manipulator to operate effectively in everyday environments. To enable long-horizon tasks involving articulated objects, this study explores building scene-level…

Efficient authoring of vast virtual environments hinges on algorithms that are able to automatically generate content while also being controllable. We propose a method to automatically generate furniture layouts for indoor environments.…

In order to perform autonomous sequential manipulation tasks, perception in cluttered scenes remains a critical challenge for robots. In this paper, we propose a probabilistic approach for robust sequential scene estimation and manipulation…

Billions of organic molecules are known, but only a tiny fraction of the functional inorganic materials have been discovered, a particularly relevant problem to the community searching for new quantum materials. Recent advancements in…