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Large-scale 3D Scene Generation (all scenes are real-time rendered)!! Physically-grounded generative data without hallucinations is the missing link for robot learning and testing at scale. We introduce a method that directly generates large-scale 3D driving scenes with accurate geometry, allowing for causal view synthesis and generation with object permanence... show more

Felix Heide

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27,779 просмотров • 11 месяцев назад •via X (Twitter)

Наука и технологии Новости и политика Образование

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📢GaussianGPT: autoregressive 3D Gaussian scene generation. We introduce a GPT-style model that directly generates 3D Gaussian scenes, token by token, in a series of small, discrete decision steps. Generation, completion, and large-scale outpainting in a single pipeline. Unlike diffusion-based approaches, GaussianGPT explicitly models the scene distribution at every step, allowing for quite flexible scene synthesis. 🌐 ▶️ Great work by Nicolas von Lützow, Barbara Roessle, Katharina Schmid

📢GaussianGPT: autoregressive 3D Gaussian scene generation. We introduce a GPT-style model that directly generates 3D Gaussian scenes, token by token, in a series of small, discrete decision steps. Generation, completion, and large-scale outpainting in a single pipeline. Unlike diffusion-based approaches, GaussianGPT explicitly models the scene distribution at every step, allowing for quite flexible scene synthesis. 🌐 ▶️ Great work by Nicolas von Lützow, Barbara Roessle, Katharina Schmid

Matthias Niessner

152,298 просмотров • 4 месяцев назад

WorldFlow3D: Unbounded 3D World Generation 🌍 by Flow Through Hierarchical Distributions, without VAEs ! We reformulate 3D generation as flowing through sequentially finer 3D distributions, cutting training time by more than half ⏱️ compared to existing approaches! Vectorized map layouts provide full scene controllability 🗺️, and a novel flow-field alignment process enables causally coherent, spatially unbounded generation 🌍. This generative method generalizes across both real and synthetic data distributions! Project: Project led by Amogh Joshi and Julian Ost — will be super fun to build on this! 🔥

WorldFlow3D: Unbounded 3D World Generation 🌍 by Flow Through Hierarchical Distributions, without VAEs ! We reformulate 3D generation as flowing through sequentially finer 3D distributions, cutting training time by more than half ⏱️ compared to existing approaches! Vectorized map layouts provide full scene controllability 🗺️, and a novel flow-field alignment process enables causally coherent, spatially unbounded generation 🌍. This generative method generalizes across both real and synthetic data distributions! Project: Project led by Amogh Joshi and Julian Ost — will be super fun to build on this! 🔥

Felix Heide

19,534 просмотров • 4 месяцев назад

🚀 Our NeurIPS '24 work, Large Spatial Model (LSM), is here! LSM performs semantic 3D reconstruction in just 0.1s, processing unposed data via feed-forward 3D reconstruction. 👉It leverages large-scale 3D datasets with minimal annotations, defining a 3D latent space. We are continuously exploring how this explicit 3D representation can further enhance reasoning and robotic learning. 🔗 Try our online Gradio demo with your own data at #NeurIPS2024 #3DReconstruction

🚀 Our NeurIPS '24 work, Large Spatial Model (LSM), is here! LSM performs semantic 3D reconstruction in just 0.1s, processing unposed data via feed-forward 3D reconstruction. 👉It leverages large-scale 3D datasets with minimal annotations, defining a 3D latent space. We are continuously exploring how this explicit 3D representation can further enhance reasoning and robotic learning. 🔗 Try our online Gradio demo with your own data at #NeurIPS2024 #3DReconstruction

Zhiwen(Aaron) Fan

43,986 просмотров • 1 год назад

WorldExplorer: Towards Generating Fully Navigable 3D Scenes Contributions: • We introduce the first method for generating 3D scenes from text that supports high-quality view synthesis while enabling exploration across a wide range of camera poses. • We propose an iterative scene expansion strategy using video diffusion models, driven by trajectory sampling and adaptive collision detection. • We design a scene memory mechanism that conditions each video generation step on relevant past frames, improving view consistency and overall scene coherence.

WorldExplorer: Towards Generating Fully Navigable 3D Scenes Contributions: • We introduce the first method for generating 3D scenes from text that supports high-quality view synthesis while enabling exploration across a wide range of camera poses. • We propose an iterative scene expansion strategy using video diffusion models, driven by trajectory sampling and adaptive collision detection. • We design a scene memory mechanism that conditions each video generation step on relevant past frames, improving view consistency and overall scene coherence.

MrNeRF

23,814 просмотров • 1 год назад

So I heard we need more data for robot learning :) Purely real world teleop is expensive and slow, making large scale data collection challenging. I’ve been excited about getting more data into robot learning, going beyond just real-world teleop data. To this end, we’ve been scaling up data generation with RL in realistic simulations generated on the fly from crowdsourced videos. Enables realistic data collection, much more cheaply than purely real world teleop. Importantly, data collection becomes even*cheaper* with more environments, allowing training with over 100x more data. Transfers to real robots for generalizable manipulation. A 🧵 (1/N)

So I heard we need more data for robot learning :) Purely real world teleop is expensive and slow, making large scale data collection challenging. I’ve been excited about getting more data into robot learning, going beyond just real-world teleop data. To this end, we’ve been scaling up data generation with RL in realistic simulations generated on the fly from crowdsourced videos. Enables realistic data collection, much more cheaply than purely real world teleop. Importantly, data collection becomes evencheaper with more environments, allowing training with over 100x more data. Transfers to real robots for generalizable manipulation. A 🧵 (1/N)

Abhishek Gupta

13,350 просмотров • 1 год назад

An Object is Worth 64x64 Pixels: Generating 3D Object via Image Diffusion discuss: We introduce a new approach for generating realistic 3D models with UV maps through a representation termed "Object Images." This approach encapsulates surface geometry, appearance, and patch structures within a 64x64 pixel image, effectively converting complex 3D shapes into a more manageable 2D format. By doing so, we address the challenges of both geometric and semantic irregularity inherent in polygonal meshes. This method allows us to use image generation models, such as Diffusion Transformers, directly for 3D shape generation. Evaluated on the ABO dataset, our generated shapes with patch structures achieve point cloud FID comparable to recent 3D generative models, while naturally supporting PBR material generation.

An Object is Worth 64x64 Pixels: Generating 3D Object via Image Diffusion discuss: We introduce a new approach for generating realistic 3D models with UV maps through a representation termed "Object Images." This approach encapsulates surface geometry, appearance, and patch structures within a 64x64 pixel image, effectively converting complex 3D shapes into a more manageable 2D format. By doing so, we address the challenges of both geometric and semantic irregularity inherent in polygonal meshes. This method allows us to use image generation models, such as Diffusion Transformers, directly for 3D shape generation. Evaluated on the ABO dataset, our generated shapes with patch structures achieve point cloud FID comparable to recent 3D generative models, while naturally supporting PBR material generation.

AK

66,486 просмотров • 2 лет назад

DL3DV-10K: A Large-Scale Scene Dataset for Deep Learning-based 3D Vision paper page: We have witnessed significant progress in deep learning-based 3D vision, ranging from neural radiance field (NeRF) based 3D representation learning to applications in novel view synthesis (NVS). However, existing scene-level datasets for deep learning-based 3D vision, limited to either synthetic environments or a narrow selection of real-world scenes, are quite insufficient. This insufficiency not only hinders a comprehensive benchmark of existing methods but also caps what could be explored in deep learning-based 3D analysis. To address this critical gap, we present DL3DV-10K, a large-scale scene dataset, featuring 51.2 million frames from 10,510 videos captured from 65 types of point-of-interest (POI) locations, covering both bounded and unbounded scenes, with different levels of reflection, transparency, and lighting. We conducted a comprehensive benchmark of recent NVS methods on DL3DV-10K, which revealed valuable insights for future research in NVS. In addition, we have obtained encouraging results in a pilot study to learn generalizable NeRF from DL3DV-10K, which manifests the necessity of a large-scale scene-level dataset to forge a path toward a foundation model for learning 3D representation.

DL3DV-10K: A Large-Scale Scene Dataset for Deep Learning-based 3D Vision paper page: We have witnessed significant progress in deep learning-based 3D vision, ranging from neural radiance field (NeRF) based 3D representation learning to applications in novel view synthesis (NVS). However, existing scene-level datasets for deep learning-based 3D vision, limited to either synthetic environments or a narrow selection of real-world scenes, are quite insufficient. This insufficiency not only hinders a comprehensive benchmark of existing methods but also caps what could be explored in deep learning-based 3D analysis. To address this critical gap, we present DL3DV-10K, a large-scale scene dataset, featuring 51.2 million frames from 10,510 videos captured from 65 types of point-of-interest (POI) locations, covering both bounded and unbounded scenes, with different levels of reflection, transparency, and lighting. We conducted a comprehensive benchmark of recent NVS methods on DL3DV-10K, which revealed valuable insights for future research in NVS. In addition, we have obtained encouraging results in a pilot study to learn generalizable NeRF from DL3DV-10K, which manifests the necessity of a large-scale scene-level dataset to forge a path toward a foundation model for learning 3D representation.

AK

49,920 просмотров • 2 лет назад

🍺 LagerNVS (CVPR 2026) 🍺 LagerNVS is a generalizable, feed-forward, real-time Novel View Synthesis network which - performs rendering in real time, - generalizes to in-the-wild data, - works with and without known source cameras, - sets a new state-of-the-art among deterministic methods, - can be paired with a diffusion decoder for generative extrapolation. LagerNVS shows that 3D biases are useful for Novel View Synthesis but explicit 3D representations are not required to achieve them. We use 3D biases in (1) architecture design and (2) pre-training: (1) In NVS with explicit 3D representations (3DGS, NeRF) reconstruction is typically difficult and slow, but rendering is much faster and simpler. We mimic this process in the network design: we use a large (1B params) encoder and a small, lightweight decoder (ViT-B). This allows increasing the network capacity while still achieving real-time rendering. (2) The encoder, initialized from VGGT, was pre-trained with 3D reconstruction objectives, making the initial features 3D aware. Both substantially improve performance. Project page: Code: Paper: Models: Work done with Jianyuan Minghao Chen Christian Rupprecht and Andrea Vedaldi

🍺 LagerNVS (CVPR 2026) 🍺 LagerNVS is a generalizable, feed-forward, real-time Novel View Synthesis network which - performs rendering in real time, - generalizes to in-the-wild data, - works with and without known source cameras, - sets a new state-of-the-art among deterministic methods, - can be paired with a diffusion decoder for generative extrapolation. LagerNVS shows that 3D biases are useful for Novel View Synthesis but explicit 3D representations are not required to achieve them. We use 3D biases in (1) architecture design and (2) pre-training: (1) In NVS with explicit 3D representations (3DGS, NeRF) reconstruction is typically difficult and slow, but rendering is much faster and simpler. We mimic this process in the network design: we use a large (1B params) encoder and a small, lightweight decoder (ViT-B). This allows increasing the network capacity while still achieving real-time rendering. (2) The encoder, initialized from VGGT, was pre-trained with 3D reconstruction objectives, making the initial features 3D aware. Both substantially improve performance. Project page: Code: Paper: Models: Work done with Jianyuan Minghao Chen Christian Rupprecht and Andrea Vedaldi

Stan Szymanowicz

31,743 просмотров • 4 месяцев назад

Spatio-Temporal Reconstruction Model for Large-Scale Outdoor Scenes Contributions: • We propose STORM, the first feed-forward, self-supervised method for fast and accurate reconstruction of dynamic 3D scenes from sparse, multi-timestep, posed camera images. • Our bottom-up framework aggregates and transforms per-frame 3D Gaussian Splats into a cohesive scene representation, enabling self-supervised motion estimation. Furthermore, we introduce motion tokens that capture common motion primitives and regularize motion predictions, facilitating dynamic motion group segmentation without explicit motion or correspondence supervision. • We present several enhancements for in-the-wild scenarios, including sky modeling, camera exposure inconsistency handling, large novel-view extrapolation, and fine-grained human motions reconstruction, making STORM well-suited for real-world applications.

Spatio-Temporal Reconstruction Model for Large-Scale Outdoor Scenes Contributions: • We propose STORM, the first feed-forward, self-supervised method for fast and accurate reconstruction of dynamic 3D scenes from sparse, multi-timestep, posed camera images. • Our bottom-up framework aggregates and transforms per-frame 3D Gaussian Splats into a cohesive scene representation, enabling self-supervised motion estimation. Furthermore, we introduce motion tokens that capture common motion primitives and regularize motion predictions, facilitating dynamic motion group segmentation without explicit motion or correspondence supervision. • We present several enhancements for in-the-wild scenarios, including sky modeling, camera exposure inconsistency handling, large novel-view extrapolation, and fine-grained human motions reconstruction, making STORM well-suited for real-world applications.

MrNeRF

53,292 просмотров • 1 год назад

MVDream: Multi-view Diffusion for 3D Generation paper page: propose MVDream, a multi-view diffusion model that is able to generate geometrically consistent multi-view images from a given text prompt. By leveraging image diffusion models pre-trained on large-scale web datasets and a multi-view dataset rendered from 3D assets, the resulting multi-view diffusion model can achieve both the generalizability of 2D diffusion and the consistency of 3D data. Such a model can thus be applied as a multi-view prior for 3D generation via Score Distillation Sampling, where it greatly improves the stability of existing 2D-lifting methods by solving the 3D consistency problem. Finally, we show that the multi-view diffusion model can also be fine-tuned under a few shot setting for personalized 3D generation, i.e. DreamBooth3D application, where the consistency can be maintained after learning the subject identity.

MVDream: Multi-view Diffusion for 3D Generation paper page: propose MVDream, a multi-view diffusion model that is able to generate geometrically consistent multi-view images from a given text prompt. By leveraging image diffusion models pre-trained on large-scale web datasets and a multi-view dataset rendered from 3D assets, the resulting multi-view diffusion model can achieve both the generalizability of 2D diffusion and the consistency of 3D data. Such a model can thus be applied as a multi-view prior for 3D generation via Score Distillation Sampling, where it greatly improves the stability of existing 2D-lifting methods by solving the 3D consistency problem. Finally, we show that the multi-view diffusion model can also be fine-tuned under a few shot setting for personalized 3D generation, i.e. DreamBooth3D application, where the consistency can be maintained after learning the subject identity.

AK

294,496 просмотров • 2 лет назад

Robot Learning needs 4D world models! Robot Learning needs 4D world models! Robot Learning needs 4D world models! We introduce TesserAct, a 4D embodied world model that can simulate how agents interact with the 3D world over time! We achieve this by simply extending a pre-trained 2D video generation model to jointly predict RGB, depth, and surface normals. It enables: 1️⃣ Much better policy learning in the wild 2️⃣ Temporal + spatial coherence in 4D dynamic prediction 3️⃣ Novel view synthesis for embodied scenes Code: Paper Link: Project page:

Robot Learning needs 4D world models! Robot Learning needs 4D world models! Robot Learning needs 4D world models! We introduce TesserAct, a 4D embodied world model that can simulate how agents interact with the 3D world over time! We achieve this by simply extending a pre-trained 2D video generation model to jointly predict RGB, depth, and surface normals. It enables: 1️⃣ Much better policy learning in the wild 2️⃣ Temporal + spatial coherence in 4D dynamic prediction 3️⃣ Novel view synthesis for embodied scenes Code: Paper Link: Project page:

Chuang Gan

43,265 просмотров • 1 год назад

📢 LinPrim: Linear Primitives for Differentiable Volumetric Rendering 📢 We use octahedra or tetrahedra as explicit as volumetric building blocks for gradient-based novel view synthesis - as an alternative to 3D Gaussians with discrete, bounded geometry. We show how it can be used to reconstruct photorealistic scenes, and introduce a corresponding differentiable CUDA rasterizer that enables real-time rendering. On real-world scenes, LinPrim achieves comparable image quality with fewer primitives, adding a practical polyhedral option to the 3D scene representation toolbox and expanding the known design space. 🌍 🎥 Amazing work by Nicolas von Lützow!

📢 LinPrim: Linear Primitives for Differentiable Volumetric Rendering 📢 We use octahedra or tetrahedra as explicit as volumetric building blocks for gradient-based novel view synthesis - as an alternative to 3D Gaussians with discrete, bounded geometry. We show how it can be used to reconstruct photorealistic scenes, and introduce a corresponding differentiable CUDA rasterizer that enables real-time rendering. On real-world scenes, LinPrim achieves comparable image quality with fewer primitives, adding a practical polyhedral option to the 3D scene representation toolbox and expanding the known design space. 🌍 🎥 Amazing work by Nicolas von Lützow!

Matthias Niessner

11,413 просмотров • 1 год назад

Starting the new year without human labeling 🎉!! Multimodal lidar-camera data is a gold mine of dense 3D geometry hiding in plain sight. For supervised pretraining and validation at scale at Torc-Robotics, we rely on fully automated pseudo-labeling pipelines. Exploiting geometric priors from temporally accumulated LiDAR maps and an iterative update rule enforces joint geometric–semantic consistency while detecting moving objects via inconsistencies. We achieve 3D semantic labels and 3D bounding boxes with human-like quality at 200m+ range required for highway driving. Paper: Exciting work with Torc-Robotics with Filippo Ghilotti, Samuel Brucker, Nahku Saidy, Matteo Matteucci, Mario Bijelic.

Starting the new year without human labeling 🎉!! Multimodal lidar-camera data is a gold mine of dense 3D geometry hiding in plain sight. For supervised pretraining and validation at scale at Torc-Robotics, we rely on fully automated pseudo-labeling pipelines. Exploiting geometric priors from temporally accumulated LiDAR maps and an iterative update rule enforces joint geometric–semantic consistency while detecting moving objects via inconsistencies. We achieve 3D semantic labels and 3D bounding boxes with human-like quality at 200m+ range required for highway driving. Paper: Exciting work with Torc-Robotics with Filippo Ghilotti, Samuel Brucker, Nahku Saidy, Matteo Matteucci, Mario Bijelic.

Felix Heide

18,210 просмотров • 7 месяцев назад

We have seen a lot of legged robots doing navigation in the wild. But how about mobile manipulation in the wild? I have been pushing the direction of learning a unified, efficient, and dynamic 3D representation of scenes (for navigation) and objects (for manipulation) for the past two years. And now we have GeFF --- our large-scale, generalizable feature field, that combines the speed of a feed-forward neural network with the rich semantics from Foundation Models, to handle dynamically changing scenes, and enable open-ended, language-grounded scene and object understanding.

We have seen a lot of legged robots doing navigation in the wild. But how about mobile manipulation in the wild? I have been pushing the direction of learning a unified, efficient, and dynamic 3D representation of scenes (for navigation) and objects (for manipulation) for the past two years. And now we have GeFF --- our large-scale, generalizable feature field, that combines the speed of a feed-forward neural network with the rich semantics from Foundation Models, to handle dynamically changing scenes, and enable open-ended, language-grounded scene and object understanding.

Xiaolong Wang

42,767 просмотров • 2 лет назад

DreamCraft3D: Hierarchical 3D Generation with Bootstrapped Diffusion Prior paper page: present DreamCraft3D, a hierarchical 3D content generation method that produces high-fidelity and coherent 3D objects. We tackle the problem by leveraging a 2D reference image to guide the stages of geometry sculpting and texture boosting. A central focus of this work is to address the consistency issue that existing works encounter. To sculpt geometries that render coherently, we perform score distillation sampling via a view-dependent diffusion model. This 3D prior, alongside several training strategies, prioritizes the geometry consistency but compromises the texture fidelity. We further propose Bootstrapped Score Distillation to specifically boost the texture. We train a personalized diffusion model, Dreambooth, on the augmented renderings of the scene, imbuing it with 3D knowledge of the scene being optimized. The score distillation from this 3D-aware diffusion prior provides view-consistent guidance for the scene. Notably, through an alternating optimization of the diffusion prior and 3D scene representation, we achieve mutually reinforcing improvements: the optimized 3D scene aids in training the scene-specific diffusion model, which offers increasingly view-consistent guidance for 3D optimization. The optimization is thus bootstrapped and leads to substantial texture boosting. With tailored 3D priors throughout the hierarchical generation, DreamCraft3D generates coherent 3D objects with photorealistic renderings, advancing the state-of-the-art in 3D content generation.

DreamCraft3D: Hierarchical 3D Generation with Bootstrapped Diffusion Prior paper page: present DreamCraft3D, a hierarchical 3D content generation method that produces high-fidelity and coherent 3D objects. We tackle the problem by leveraging a 2D reference image to guide the stages of geometry sculpting and texture boosting. A central focus of this work is to address the consistency issue that existing works encounter. To sculpt geometries that render coherently, we perform score distillation sampling via a view-dependent diffusion model. This 3D prior, alongside several training strategies, prioritizes the geometry consistency but compromises the texture fidelity. We further propose Bootstrapped Score Distillation to specifically boost the texture. We train a personalized diffusion model, Dreambooth, on the augmented renderings of the scene, imbuing it with 3D knowledge of the scene being optimized. The score distillation from this 3D-aware diffusion prior provides view-consistent guidance for the scene. Notably, through an alternating optimization of the diffusion prior and 3D scene representation, we achieve mutually reinforcing improvements: the optimized 3D scene aids in training the scene-specific diffusion model, which offers increasingly view-consistent guidance for 3D optimization. The optimization is thus bootstrapped and leads to substantial texture boosting. With tailored 3D priors throughout the hierarchical generation, DreamCraft3D generates coherent 3D objects with photorealistic renderings, advancing the state-of-the-art in 3D content generation.

AK

161,530 просмотров • 2 лет назад

Scaling 3D scene data is a long-standing challenge in scene understanding, spatial reasoning, and robotics. Since scanning, reconstruction, and labeling are so labor-intensive, data scarcity has remained a major bottleneck. 🛑 To solve this, we propose SceneVerse++: Lifting Unlabeled Internet-level Data for 3D Scene Understanding (CVPR 2026). By reconstructing internet videos and annotating 3D scenes automatically, we’ve created a massive real-world dataset for end-to-end understanding. 🌐📐 SceneVerse++ makes it easy to scale "in-the-wild" 3D scenes toward more capable spatial reasoning systems. This significantly promotes progress in 3D VQA, visual navigation, and broader tasks in Embodied AI and Robotics. 🤖🦾 We are fully open-sourced! Check out the paper, code, and data here: 🌐 Project: 📄 Paper: 📊 Dataset: Code:

Scaling 3D scene data is a long-standing challenge in scene understanding, spatial reasoning, and robotics. Since scanning, reconstruction, and labeling are so labor-intensive, data scarcity has remained a major bottleneck. 🛑 To solve this, we propose SceneVerse++: Lifting Unlabeled Internet-level Data for 3D Scene Understanding (CVPR 2026). By reconstructing internet videos and annotating 3D scenes automatically, we’ve created a massive real-world dataset for end-to-end understanding. 🌐📐 SceneVerse++ makes it easy to scale "in-the-wild" 3D scenes toward more capable spatial reasoning systems. This significantly promotes progress in 3D VQA, visual navigation, and broader tasks in Embodied AI and Robotics. 🤖🦾 We are fully open-sourced! Check out the paper, code, and data here: 🌐 Project: 📄 Paper: 📊 Dataset: Code:

Siyuan Huang

12,612 просмотров • 3 месяцев назад

3D Object Tracking without Training Data? In our nature Machine Intelligence paper ( we recast 3D tracking as an inverse neural rendering task where we fit a scene graph to an image that best explains this image. The method generalizes to completely unseen datasets and is explainable. Project and Code: Fun collaboration between Princeton Computer Science and Torc Robotics, with Julian Ost and Tanushree Banerjee leading this project.

3D Object Tracking without Training Data? In our nature Machine Intelligence paper ( we recast 3D tracking as an inverse neural rendering task where we fit a scene graph to an image that best explains this image. The method generalizes to completely unseen datasets and is explainable. Project and Code: Fun collaboration between Princeton Computer Science and Torc Robotics, with Julian Ost and Tanushree Banerjee leading this project.

Felix Heide

27,858 просмотров • 11 месяцев назад

PointOdyssey: A Large-Scale Synthetic Dataset for Long-Term Point Tracking paper page: introduce PointOdyssey, a large-scale synthetic dataset, and data generation framework, for the training and evaluation of long-term fine-grained tracking algorithms. Our goal is to advance the state-of-the-art by placing emphasis on long videos with naturalistic motion. Toward the goal of naturalism, we animate deformable characters using real-world motion capture data, we build 3D scenes to match the motion capture environments, and we render camera viewpoints using trajectories mined via structure-from-motion on real videos. We create combinatorial diversity by randomizing character appearance, motion profiles, materials, lighting, 3D assets, and atmospheric effects. Our dataset currently includes 104 videos, averaging 2,000 frames long, with orders of magnitude more correspondence annotations than prior work. We show that existing methods can be trained from scratch in our dataset and outperform the published variants. Finally, we introduce modifications to the PIPs point tracking method, greatly widening its temporal receptive field, which improves its performance on PointOdyssey as well as on two real-world benchmarks.

PointOdyssey: A Large-Scale Synthetic Dataset for Long-Term Point Tracking paper page: introduce PointOdyssey, a large-scale synthetic dataset, and data generation framework, for the training and evaluation of long-term fine-grained tracking algorithms. Our goal is to advance the state-of-the-art by placing emphasis on long videos with naturalistic motion. Toward the goal of naturalism, we animate deformable characters using real-world motion capture data, we build 3D scenes to match the motion capture environments, and we render camera viewpoints using trajectories mined via structure-from-motion on real videos. We create combinatorial diversity by randomizing character appearance, motion profiles, materials, lighting, 3D assets, and atmospheric effects. Our dataset currently includes 104 videos, averaging 2,000 frames long, with orders of magnitude more correspondence annotations than prior work. We show that existing methods can be trained from scratch in our dataset and outperform the published variants. Finally, we introduce modifications to the PIPs point tracking method, greatly widening its temporal receptive field, which improves its performance on PointOdyssey as well as on two real-world benchmarks.

AK

122,560 просмотров • 3 лет назад

📢 Lyra: Generative 3D Scene Reconstruction via Video Diffusion Model Self-Distillation Got only one or a few images and wondering if recovering the 3D environment is a reconstruction or generation problem? Why not do it with a generative reconstruction model! We show that a camera-conditioned video diffusion model can be transformed into a generative reconstruction model that directly outputs a high-quality 3D Gaussian Splatting representation through self-distillation, without requiring real-world training data. Check out our results in the video (wait for dynamic scenes in the second half!) : Project Page: Code and Models: Paper:

📢 Lyra: Generative 3D Scene Reconstruction via Video Diffusion Model Self-Distillation Got only one or a few images and wondering if recovering the 3D environment is a reconstruction or generation problem? Why not do it with a generative reconstruction model! We show that a camera-conditioned video diffusion model can be transformed into a generative reconstruction model that directly outputs a high-quality 3D Gaussian Splatting representation through self-distillation, without requiring real-world training data. Check out our results in the video (wait for dynamic scenes in the second half!) : Project Page: Code and Models: Paper:

Sherwin Bahmani

66,647 просмотров • 10 месяцев назад

Over the last few months, we’ve been thinking about how to learn from “off-domain” data - data from non-robot sources like video or simulation. These data sources are not quite good enough to learn policies (even monolithic VLA models) directly, but they still contain lots of information that can be useful for generalizable robot control. How can we develop robot learning models that are able to make use of this type of data for generalizable control? In new work, that we call HAMSTER, we show that VLMs can be useful for enabling robotic learning from off-domain data, but specifically when used through hierarchical VLA architectures. We show that this class of models can learn generalizable robot policies for the real world from large-scale, off-domain data. A 🧵 (1/10)

Over the last few months, we’ve been thinking about how to learn from “off-domain” data - data from non-robot sources like video or simulation. These data sources are not quite good enough to learn policies (even monolithic VLA models) directly, but they still contain lots of information that can be useful for generalizable robot control. How can we develop robot learning models that are able to make use of this type of data for generalizable control? In new work, that we call HAMSTER, we show that VLMs can be useful for enabling robotic learning from off-domain data, but specifically when used through hierarchical VLA architectures. We show that this class of models can learn generalizable robot policies for the real world from large-scale, off-domain data. A 🧵 (1/10)

Abhishek Gupta

11,994 просмотров • 1 год назад