10 papers
ClothTransformer: Unified Latent-Space Transformers for Scalable Cloth Simulation
Yu Zhang, Yidi Shao, Wenqi Ouyang +5
ClothTransformer reformulates cloth simulation as an autoregressive sequence modeling problem in a learned latent space, using a unified Transformer architecture that handles diver…
RoboSnap: One-Shot Real-to-Sim Scene Generation for Generalizable Robot Learning and Evaluation
Shujie Zhang, Jingkun Yi, Weipeng Zhong +6
Recovering real-world scenes as interactive simulation environments can enable generalizable robot learning and reproducible policy evaluation. However, constructing scenes that ar…
EgoSim: Egocentric World Simulator for Embodied Interaction Generation
Jinkun Hao, Mingda Jia, Ruiyan Wang +7
We introduce EgoSim, a closed-loop egocentric world simulator that generates spatially consistent interaction videos and persistently updates the underlying 3D scene state for cont…
EBench: Elemental Diagnosis of Generalist Mobile Manipulation Policies
Ning Gao, Jinliang Zheng, Xing Gao +22
We present EBench, a simulation benchmark that diagnoses generalist mobile manipulation policies beyond a single success-rate scalar. EBench comprises 26 diverse and challenging ma…
Trans2Occ: Voxel Occupancy Estimation and Grasp for Transparent Objects from Simulation to Reality
Yixuan Yang, Sha Zhang, Rui Li +12
Transparent objects remain challenging for robotic perception due to unreliable depth sensing caused by refraction and reflection. While prior approaches rely on multi-view reconst…
STABLE: Simulation-Ready Tabletop Layout Generation via a Semantics-Physics Dual System
Zhen Luo, Yixuan Yang, Xudong Xu +5
Generating simulation-ready tabletop scenes from task instructions is an intriguing and promising research direction in the field of Embodied AI. However, existing task-to-scene ge…