5 papers
YUBI-Real2Sim: 3DGS Scene Verification for Reliable Policy Evaluation
Hiroki Nishizawa, Takehiko Ohkawa, Nicola Scianca +3
Evaluating VLA policies on real robots is costly, time-consuming, and difficult to reproduce, making real-to-sim simulation essential for scalable evaluation. While 3D Gaussian Spl…
Improving Imitation Learning Efficiency for Manipulation through Geometric Prior Pretraining
Shogo Iwakata, Tomohiro Motoda, Ryosuke Yamada +8
Applying an imitation learning policy to a new manipulation task usually requires collecting new demonstrations and retraining the model, which makes sample efficiency a practical…
Feed-forward Motion In-betweening for Any 4D
Hiroki Nishizawa, Hubert P. H. Shum, Yoshihiro Fukuhara +2
4D dynamics (3D geometry evolving over time) is a fundamental representation of the physical world and plays a crucial role in world modeling (e.g., animation and games). Owing to…
Geometric Visual Fusion Graph Neural Networks for Multi-Person Human-Object Interaction Recognition in Videos
Tanqiu Qiao, Ruochen Li, Frederick W. B. Li +3
Human-Object Interaction (HOI) recognition in videos requires understanding both visual patterns and geometric relationships as they evolve over time. Visual and geometric features…
Detect Fake with Fake: Leveraging Synthetic Data-driven Representation for Synthetic Image Detection
Hina Otake, Yoshihiro Fukuhara, Yoshiki Kubotani +1
Are general-purpose visual representations acquired solely from synthetic data useful for detecting fake images? In this work, we show the effectiveness of synthetic data-driven re…