4 papers
PaMO: Parallel Mesh Optimization for Intersection-Free Low-Poly Modeling on the GPU
Seonghun Oh, Xiaodi Yuan, Xinyue Wei +4
Reducing the triangle count in complex 3D models is a basic geometry preprocessing step in graphics pipelines such as efficient rendering and interactive editing. However, most exi…
Diffusion Dynamics Models with Generative State Estimation for Cloth Manipulation
Tongxuan Tian, Haoyang Li, Bo Ai +3
Cloth manipulation is challenging due to its highly complex dynamics, near-infinite degrees of freedom, and frequent self-occlusions, which complicate both state estimation and dyn…
LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrations
Weikang Wan, Jiawei Fu, Xiaodi Yuan +2
Developing robotic systems capable of robustly executing long-horizon manipulation tasks with human-level dexterity is challenging, as such tasks require both physical dexterity an…
ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI
Stone Tao, Fanbo Xiang, Arth Shukla +20
Simulation has enabled unprecedented compute-scalable approaches to robot learning. However, many existing simulation frameworks typically support a narrow range of scenes/tasks an…