10 papers
Proof of the Penrose Conjecture for Maximally Parameterized Initial Data Sets
Hubert Bray, Tuan Dolmen, Marcus Khuri +1
We prove the spacetime Penrose inequality for asymptotically flat initial data sets in all dimensions , under the dominant energy condition, for data admitting…
GIF: Agentic Generation of Interactive and Functional Object Compositions for Robot Learning
Long Xu, Zhiqi Zhang, Mi Yan +8
Robot manipulation foundation models require scalable evaluation and data generation across diverse scenarios, with simulation providing an environment for both. Automated scene ge…
ParallelWorld: Test-Time Scaling for Agentic Embodied Reasoning
Min Chen, Shengjun Zhang, Yuxin Li +4
Embodied AI has emerged as a key paradigm for autonomous systems operating in complex physical environments. While end-to-end models have established strong local capabilities for…
ReplicateAnyScene: Zero-Shot Video-to-3D Composition via Textual-Visual-Spatial Alignment
Mingyu Dong, Chong Xia, Mingyuan Jia +4
Humans exhibit an innate capacity to rapidly perceive and segment objects from video observations, and even mentally assemble them into structured 3D scenes. Replicating such capab…
OnlineX: Unified Online 3D Reconstruction and Understanding with Active-to-Stable State Evolution
Chong Xia, Fangfu Liu, Yule Wang +2
Recent advances in generalizable 3D Gaussian Splatting (3DGS) have enabled rapid 3D scene reconstruction within seconds, eliminating the need for per-scene optimization. However, e…
SimRecon: SimReady Compositional Scene Reconstruction from Real Videos
Chong Xia, Kai Zhu, Zizhuo Wang +3
Compositional scene reconstruction seeks to create object-centric representations rather than holistic scenes from real-world videos, which is natively applicable for simulation an…
A Dataset and Benchmark for Robotic Cloth Unfolding Grasp Selection: The ICRA 2024 Cloth Competition
Victor-Louis De Gusseme, Thomas Lips, Remko Proesmans +59
Robotic cloth manipulation suffers from a lack of standardized benchmarks and shared datasets for evaluating and comparing different approaches. To address this, we created a bench…
ScenePainter: Semantically Consistent Perpetual 3D Scene Generation with Concept Relation Alignment
Chong Xia, Shengjun Zhang, Fangfu Liu +3
Perpetual 3D scene generation aims to produce long-range and coherent 3D view sequences, which is applicable for long-term video synthesis and 3D scene reconstruction. Existing met…
Memory-based Adapters for Online 3D Scene Perception
Xiuwei Xu, Chong Xia, Ziwei Wang +4
In this paper, we propose a new framework for online 3D scene perception. Conventional 3D scene perception methods are offline, i.e., take an already reconstructed 3D scene geometr…
Anyview: Generalizable Indoor 3D Object Detection with Variable Frames
Zhenyu Wu, Xiuwei Xu, Ziwei Wang +4
In this paper, we propose a novel network framework for indoor 3D object detection to handle variable input frame numbers in practical scenarios. Existing methods only consider fix…