相关论文: Video-Driven Graph Network-Based Simulators

We are given a video of a person performing a certain activity, from which we extract a controllable model. The model generates novel image sequences of that person, according to arbitrary user-defined control signals, typically marking the…

We propose a method for sim-to-real robot learning which exploits simulator state information in a way that scales to many objects. We first train a pair of encoder networks to capture multi-object state information in a latent space. One…

Graph neural networks trained to predict observable dynamics can be used to decompose the temporal activity of complex heterogeneous systems into simple, interpretable representations. Here we apply this framework to simulated neural…

Research on graph representation learning has received a lot of attention in recent years since many data in real-world applications come in form of graphs. High-dimensional graph data are often in irregular form, which makes them more…

A long-standing question in physical reasoning is whether video-based models need to rely on factorized representations of physical variables in order to make physically accurate predictions, or whether they can implicitly represent such…

Video games are a compelling source of annotated data as they can readily provide fine-grained groundtruth for diverse tasks. However, it is not clear whether the synthetically generated data has enough resemblance to the real-world images…

While the basic laws of Newtonian mechanics are well understood, explaining a physical scenario still requires manually modeling the problem with suitable equations and estimating the associated parameters. In order to be able to leverage…

We present a novel approach to estimating physical properties of objects from video. Our approach consists of a physics engine and a correction estimator. Starting from the initial observed state, object behavior is simulated forward in…

We identify the need for a gamified self-driving simulator where game mechanics encourage high-quality data capture, and design and apply such a simulator to collecting lane-following training data. The resulting synthetic data enables a…

Many current methods to learn intuitive physics are based on interaction networks and similar approaches. However, they rely on information that has proven difficult to estimate directly from image data in the past. We aim to narrow this…

Gait analysis from videos obtained from a smartphone would open up many clinical opportunities for detecting and quantifying gait impairments. However, existing approaches for estimating gait parameters from videos can produce physically…

A long-standing goal in scene understanding is to obtain interpretable and editable representations that can be directly constructed from a raw monocular RGB-D video, without requiring specialized hardware setup or priors. The problem is…

Appropriate traffic regulations, e.g. planned road closure, are important in congested events. Crowd simulators have been used to find appropriate regulations by simulating multiple scenarios with different regulations. However, this…

Identifying systems with high-dimensional inputs and outputs, such as systems measured by video streams, is a challenging problem with numerous applications in robotics, autonomous vehicles and medical imaging. In this paper, we propose a…

We introduce inverse transport networks as a learning architecture for inverse rendering problems where, given input image measurements, we seek to infer physical scene parameters such as shape, material, and illumination. During training,…

Natural physical, chemical, and biological dynamical systems are often complex, with heterogeneous components interacting in diverse ways. We show how simple graph neural networks can be designed to jointly learn the interaction rules and…

Learning structured task representations from human demonstrations is essential for understanding long-horizon manipulation behaviors, particularly in bimanual settings where action ordering, object involvement, and interaction geometry can…

Graph Neural Networks (GNN) rely on graph convolutions to learn features from network data. GNNs are stable to different types of perturbations of the underlying graph, a property that they inherit from graph filters. In this paper we…

From just a glance, humans can make rich predictions about the future state of a wide range of physical systems. On the other hand, modern approaches from engineering, robotics, and graphics are often restricted to narrow domains and…

Large-scale video generative models have recently demonstrated strong visual capabilities, enabling the prediction of future frames that adhere to the logical and physical cues in the current observation. In this work, we investigate…