相关论文: ContactGaussian-WM: Learning Physics-Grounded Worl…

Data-driven learning approaches for physics simulation, sometimes referred to as world models, have emerged as promising alternatives to traditional physics simulators due to their differentiable nature. Prior work has demonstrated…

We present DecoupledGaussian, a novel system that decouples static objects from their contacted surfaces captured in-the-wild videos, a key prerequisite for realistic Newtonian-based physical simulations. Unlike prior methods focused on…

In this paper, we aim to jointly model the geometry, appearance, and physical information of 3D scenes solely from dynamic multi-view videos, without relying on any physical priors. Existing works typically employ physical losses merely as…

Training robot policies within a learned world model is trending due to the inefficiency of real-world interactions. The established image-based world models and policies have shown prior success, but lack robust geometric information that…

While non-prehensile manipulation (e.g., controlled pushing/poking) constitutes a foundational robotic skill, its learning remains challenging due to the high sensitivity to complex physical interactions involving friction and restitution.…

Learning a physical model from video data that can comprehend physical laws and predict the future trajectories of objects is a formidable challenge in artificial intelligence. Prior approaches either leverage various Partial Differential…

Identifying predictive world models for robots in novel environments from sparse online observations is essential for robot task planning and execution in novel environments. However, existing methods that leverage differentiable…

We introduce multi-task Visuo-Tactile World Models (VT-WM), which capture the physics of contact through touch reasoning. By complementing vision with tactile sensing, VT-WM better understands robot-object interactions in contact-rich…

The incorporation of appropriate inductive bias plays a critical role in learning dynamics from data. A growing body of work has been exploring ways to enforce energy conservation in the learned dynamics by encoding Lagrangian or…

Driving World Models (DWMs) have been developing rapidly with the advances of generative models. However, existing DWMs lack 3D scene understanding capabilities and can only generate content conditioned on input data, without the ability to…

Videos of robots interacting with objects encode rich information about the objects' dynamics. However, existing video prediction approaches typically do not explicitly account for the 3D information from videos, such as robot actions and…

3D Gaussians, as a low-level scene representation, typically involve thousands to millions of Gaussians. This makes it difficult to control the scene in ways that reflect the underlying dynamic structure, where the number of independent…

Modeling the dynamics of flexible objects has become an emerging topic in the community as these objects become more present in many applications, e.g., soft robotics. Due to the properties of flexible materials, the movements of soft…

We introduce PhysGaussian, a new method that seamlessly integrates physically grounded Newtonian dynamics within 3D Gaussians to achieve high-quality novel motion synthesis. Employing a custom Material Point Method (MPM), our approach…

Action-conditioned world models (ACWMs) have shown strong promise for video prediction and decision-making. However, existing benchmarks are largely restricted to egocentric navigation or narrow, task-specific robotics datasets, offering…

System identification involving the geometry, appearance, and physical properties from video observations is a challenging task with applications in robotics and graphics. Recent approaches have relied on fully differentiable Material Point…

Differentiable physics is a powerful tool in computer vision and robotics for scene understanding and reasoning about interactions. Existing approaches have frequently been limited to objects with simple shape or shapes that are known in…

Building an efficient and physically consistent world model from limited observations is a long standing challenge in vision and robotics. Many existing world modeling pipelines are based on implicit generative models, which are hard to…

Realistic simulation is critical for applications ranging from robotics to animation. Learned simulators have emerged as a possibility to capture real world physics directly from video data, but very often require privileged information…

This paper studies the problem of estimating physical properties (system identification) through visual observations. To facilitate geometry-aware guidance in physical property estimation, we introduce a novel hybrid framework that…