3 papers
cs.CV2025
Neural USD: An object-centric framework for iterative editing and control
Alejandro Escontrela, Shrinu Kushagra, Sjoerd van Steenkiste +5
Amazing progress has been made in controllable generative modeling, especially over the last few years. However, some challenges remain. One of them is precise and iterative object…
cs.RO2025
GaussGym: An open-source real-to-sim framework for learning locomotion from pixels
Alejandro Escontrela, Justin Kerr, Arthur Allshire +4
We present a novel approach for photorealistic robot simulation that integrates 3D Gaussian Splatting as a drop-in renderer within vectorized physics simulators such as IsaacGym. T…
cs.LG2025
Learning a Diffusion Model Policy from Rewards via Q-Score Matching
Michael Psenka, Alejandro Escontrela, Pieter Abbeel +1
Diffusion models have become a popular choice for representing actor policies in behavior cloning and offline reinforcement learning. This is due to their natural ability to optimi…