5 papers
ProcFunc: Function-Oriented Abstractions for Procedural 3D Generation in Python
Alexander Raistrick, Karhan Kayan, Jack Nugent +8
We introduce ProcFunc, a library for Blender-based procedural 3D generation in Python. ProcFunc provides a library of easy-to-use Python functions, which streamline creating, combi…
Evaluating Robustness of Monocular Depth Estimation with Procedural Scene Perturbations
Jack Nugent, Siyang Wu, Zeyu Ma +7
Recent years have witnessed substantial progress on monocular depth estimation, particularly as measured by the success of large models on standard benchmarks. However, performance…
AnyBody: A Benchmark Suite for Cross-Embodiment Manipulation
Meenal Parakh, Alexandre Kirchmeyer, Beining Han +1
Generalizing control policies to novel embodiments remains a fundamental challenge in enabling scalable and transferable learning in robotics. While prior works have explored this…
FetchBench: A Simulation Benchmark for Robot Fetching
Beining Han, Meenal Parakh, Derek Geng +3
Fetching, which includes approaching, grasping, and retrieving, is a critical challenge for robot manipulation tasks. Existing methods primarily focus on table-top scenarios, which…
Infinigen Indoors: Photorealistic Indoor Scenes using Procedural Generation
Alexander Raistrick, Lingjie Mei, Karhan Kayan +9
We introduce Infinigen Indoors, a Blender-based procedural generator of photorealistic indoor scenes. It builds upon the existing Infinigen system, which focuses on natural scenes,…