6 papers
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…
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…
Pair2Scene: Learning Local Object Relations for Procedural Scene Generation
Xingjian Ran, Shujie Zhang, Weipeng Zhong +2
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 str…
RoboVIP: Multi-View Video Generation with Visual Identity Prompting Augments Robot Manipulation
Boyang Wang, Haoran Zhang, Shujie Zhang +8
The diversity, quantity, and quality of manipulation data are critical for training effective robot policies. However, due to hardware and physical setup constraints, collecting la…
3D Scene Change Modeling With Consistent Multi-View Aggregation
Zirui Zhou, Junfeng Ni, Shujie Zhang +2
Change detection plays a vital role in scene monitoring, exploration, and continual reconstruction. Existing 3D change detection methods often exhibit spatial inconsistency in the…
SceneWeaver: All-in-One 3D Scene Synthesis with an Extensible and Self-Reflective Agent
Yandan Yang, Baoxiong Jia, Shujie Zhang +1
Indoor scene synthesis has become increasingly important with the rise of Embodied AI, which requires 3D environments that are not only visually realistic but also physically plaus…