Search Results for author: Bokui Shen

Found 14 papers, 5 papers with code

Generic 3D Diffusion Adapter Using Controlled Multi-View Editing

1 code implementation18 Mar 2024 Hansheng Chen, Ruoxi Shi, Yulin Liu, Bokui Shen, Jiayuan Gu, Gordon Wetzstein, Hao Su, Leonidas Guibas

Open-domain 3D object synthesis has been lagging behind image synthesis due to limited data and higher computational complexity.

Image Generation Image to 3D +2

CAD: Photorealistic 3D Generation via Adversarial Distillation

no code implementations11 Dec 2023 Ziyu Wan, Despoina Paschalidou, IAn Huang, Hongyu Liu, Bokui Shen, Xiaoyu Xiang, Jing Liao, Leonidas Guibas

The increased demand for 3D data in AR/VR, robotics and gaming applications, gave rise to powerful generative pipelines capable of synthesizing high-quality 3D objects.

SAGE: Bridging Semantic and Actionable Parts for GEneralizable Articulated-Object Manipulation under Language Instructions

no code implementations3 Dec 2023 Haoran Geng, Songlin Wei, Congyue Deng, Bokui Shen, He Wang, Leonidas Guibas

To address this problem, we propose SAGE, a novel framework that bridges the understanding of semantic and actionable parts of articulated objects to achieve generalizable manipulation under language instructions.

Object

Make a Donut: Hierarchical EMD-Space Planning for Zero-Shot Deformable Manipulation with Tools

no code implementations5 Nov 2023 Yang You, Bokui Shen, Congyue Deng, Haoran Geng, Songlin Wei, He Wang, Leonidas Guibas

Remarkably, our model demonstrates robust generalization capabilities to novel and previously unencountered complex tasks without any preliminary demonstrations.

Deformable Object Manipulation Model Predictive Control

NAP: Neural 3D Articulation Prior

no code implementations25 May 2023 Jiahui Lei, Congyue Deng, Bokui Shen, Leonidas Guibas, Kostas Daniilidis

We propose Neural 3D Articulation Prior (NAP), the first 3D deep generative model to synthesize 3D articulated object models.

Denoising Graph Attention +1

GINA-3D: Learning to Generate Implicit Neural Assets in the Wild

no code implementations CVPR 2023 Bokui Shen, Xinchen Yan, Charles R. Qi, Mahyar Najibi, Boyang Deng, Leonidas Guibas, Yin Zhou, Dragomir Anguelov

Modeling the 3D world from sensor data for simulation is a scalable way of developing testing and validation environments for robotic learning problems such as autonomous driving.

Autonomous Driving Representation Learning

COPILOT: Human-Environment Collision Prediction and Localization from Egocentric Videos

no code implementations ICCV 2023 Boxiao Pan, Bokui Shen, Davis Rempe, Despoina Paschalidou, Kaichun Mo, Yanchao Yang, Leonidas J. Guibas

In this work, we introduce the challenging problem of predicting collisions in diverse environments from multi-view egocentric videos captured from body-mounted cameras.

Collision Avoidance Synthetic Data Generation

ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation

no code implementations14 Mar 2022 Bokui Shen, Zhenyu Jiang, Christopher Choy, Leonidas J. Guibas, Silvio Savarese, Anima Anandkumar, Yuke Zhu

Manipulating volumetric deformable objects in the real world, like plush toys and pizza dough, bring substantial challenges due to infinite shape variations, non-rigid motions, and partial observability.

Contrastive Learning Deformable Object Manipulation

ADeLA: Automatic Dense Labeling With Attention for Viewpoint Shift in Semantic Segmentation

no code implementations CVPR 2022 Hanxiang Ren, Yanchao Yang, He Wang, Bokui Shen, Qingnan Fan, Youyi Zheng, C. Karen Liu, Leonidas J. Guibas

We describe a method to deal with performance drop in semantic segmentation caused by viewpoint changes within multi-camera systems, where temporally paired images are readily available, but the annotations may only be abundant for a few typical views.

Hallucination Semantic Segmentation +1

iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks

1 code implementation6 Aug 2021 Chengshu Li, Fei Xia, Roberto Martín-Martín, Michael Lingelbach, Sanjana Srivastava, Bokui Shen, Kent Vainio, Cem Gokmen, Gokul Dharan, Tanish Jain, Andrey Kurenkov, C. Karen Liu, Hyowon Gweon, Jiajun Wu, Li Fei-Fei, Silvio Savarese

We evaluate the new capabilities of iGibson 2. 0 to enable robot learning of novel tasks, in the hope of demonstrating the potential of this new simulator to support new research in embodied AI.

Imitation Learning

ADeLA: Automatic Dense Labeling with Attention for Viewpoint Adaptation in Semantic Segmentation

1 code implementation29 Jul 2021 Yanchao Yang, Hanxiang Ren, He Wang, Bokui Shen, Qingnan Fan, Youyi Zheng, C. Karen Liu, Leonidas Guibas

Furthermore, to resolve ambiguities in converting the semantic images to semantic labels, we treat the view transformation network as a functional representation of an unknown mapping implied by the color images and propose functional label hallucination to generate pseudo-labels in the target domain.

Hallucination Inductive Bias +2

Situational Fusion of Visual Representation for Visual Navigation

no code implementations ICCV 2019 Bokui Shen, Danfei Xu, Yuke Zhu, Leonidas J. Guibas, Li Fei-Fei, Silvio Savarese

A complex visual navigation task puts an agent in different situations which call for a diverse range of visual perception abilities.

Visual Navigation

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