Language-Augmented Symbolic Planner for Open-World Task Planning

Enabling robotic agents to perform complex long-horizon tasks has been a long-standing goal in robotics and artificial intelligence (AI). Despite the potential shown by large language models (LLMs), their planning capabilities remain limited to short-horizon tasks and they are unable to replace the symbolic planning approach. Symbolic planners, on the other hand, may encounter execution errors due to their common assumption of complete domain knowledge which is hard to manually prepare for an open-world setting. In this paper, we introduce a Language-Augmented Symbolic Planner (LASP) that integrates pre-trained LLMs to enable conventional symbolic planners to operate in an open-world environment where only incomplete knowledge of action preconditions, objects, and properties is initially available. In case of execution errors, LASP can utilize the LLM to diagnose the cause of the error based on the observation and interact with the environment to incrementally build up its knowledge base necessary for accomplishing the given tasks. Experiments demonstrate that LASP is proficient in solving planning problems in the open-world setting, performing well even in situations where there are multiple gaps in the knowledge.

DICE: End-to-end Deformation Capture of Hand-Face Interactions from a Single Image

Reconstructing 3D hand-face interactions with deformations from a single image is a challenging yet crucial task with broad applications in AR, VR, and gaming. The challenges stem from self-occlusions during single-view hand-face interactions, diverse spatial relationships between hands and face, complex deformations, and the ambiguity of the single-view setting. The first and only method for hand-face interaction recovery, Decaf, introduces a global fitting optimization guided by contact and deformation estimation networks trained on studio-collected data with 3D annotations. However, Decaf suffers from a time-consuming optimization process and limited generalization capability due to its reliance on 3D annotations of hand-face interaction data. To address these issues, we present DICE, the first end-to-end method for Deformation-aware hand-face Interaction reCovEry from a single image. DICE estimates the poses of hands and faces, contacts, and deformations simultaneously using a Transformer-based architecture. It features disentangling the regression of local deformation fields and global mesh vertex locations into two network branches, enhancing deformation and contact estimation for precise and robust hand-face mesh recovery. To improve generalizability, we propose a weakly-supervised training approach that augments the training set using in-the-wild images without 3D ground-truth annotations, employing the depths of 2D keypoints estimated by off-the-shelf models and adversarial priors of poses for supervision. Our experiments demonstrate that DICE achieves state-of-the-art performance on a standard benchmark and in-the-wild data in terms of accuracy and physical plausibility. Additionally, our method operates at an interactive rate (20 fps) on an Nvidia 4090 GPU, whereas Decaf requires more than 15 seconds for a single image. Our code will be publicly available upon publication.

MoDGS: Dynamic Gaussian Splatting from Causually-captured Monocular Videos

In this paper, we propose MoDGS, a new pipeline to render novel-view images in dynamic scenes using only casually captured monocular videos. Previous monocular dynamic NeRF or Gaussian Splatting methods strongly rely on the rapid movement of input cameras to construct multiview consistency but fail to reconstruct dynamic scenes on casually captured input videos whose cameras are static or move slowly. To address this challenging task, MoDGS adopts recent single-view depth estimation methods to guide the learning of the dynamic scene. Then, a novel 3D-aware initialization method is proposed to learn a reasonable deformation field and a new robust depth loss is proposed to guide the learning of dynamic scene geometry. Comprehensive experiments demonstrate that MoDGS is able to render high-quality novel view images of dynamic scenes from just a casually captured monocular video, which outperforms baseline methods by a significant margin.

DreamMat: High-quality PBR Material Generation with Geometry- and Light-aware Diffusion Models

2D diffusion model, which often contains unwanted baked-in shading effects and results in unrealistic rendering effects in the downstream applications. Generating Physically Based Rendering (PBR) materials instead of just RGB textures would be a promising solution. However, directly distilling the PBR material parameters from 2D diffusion models still suffers from incorrect material decomposition, such as baked-in shading effects in albedo. We introduce DreamMat, an innovative approach to resolve the aforementioned problem, to generate high-quality PBR materials from text descriptions. We find out that the main reason for the incorrect material distillation is that large-scale 2D diffusion models are only trained to generate final shading colors, resulting in insufficient constraints on material decomposition during distillation. To tackle this problem, we first finetune a new light-aware 2D diffusion model to condition on a given lighting environment and generate the shading results on this specific lighting condition. Then, by applying the same environment lights in the material distillation, DreamMat can generate high-quality PBR materials that are not only consistent with the given geometry but also free from any baked-in shading effects in albedo. Extensive experiments demonstrate that the materials produced through our methods exhibit greater visual appeal to users and achieve significantly superior rendering quality compared to baseline methods, which are preferable for downstream tasks such as game and film production.

Part123: Part-aware 3D Reconstruction from a Single-view Image

Recently, the emergence of diffusion models has opened up new opportunities for single-view reconstruction. However, all the existing methods represent the target object as a closed mesh devoid of any structural information, thus neglecting the part-based structure, which is crucial for many downstream applications, of the reconstructed shape. Moreover, the generated meshes usually suffer from large noises, unsmooth surfaces, and blurry textures, making it challenging to obtain satisfactory part segments using 3D segmentation techniques. In this paper, we present Part123, a novel framework for part-aware 3D reconstruction from a single-view image. We first use diffusion models to generate multiview-consistent images from a given image, and then leverage Segment Anything Model (SAM), which demonstrates powerful generalization ability on arbitrary objects, to generate multiview segmentation masks. To effectively incorporate 2D part-based information into 3D reconstruction and handle inconsistency, we introduce contrastive learning into a neural rendering framework to learn a part-aware feature space based on the multiview segmentation masks. A clustering-based algorithm is also developed to automatically derive 3D part segmentation results from the reconstructed models. Experiments show that our method can generate 3D models with high-quality segmented parts on various objects. Compared to existing unstructured reconstruction methods, the part-aware 3D models from our method benefit some important applications, including feature-preserving reconstruction, primitive fitting, and 3D shape editing.

Deep-PE: A Learning-Based Pose Evaluator for Point Cloud Registration

In the realm of point cloud registration, the most prevalent pose evaluation approaches are statistics-based, identifying the optimal transformation by maximizing the number of consistent correspondences. However, registration recall decreases significantly when point clouds exhibit a low overlap rate, despite efforts in designing feature descriptors and establishing correspondences. In this paper, we introduce Deep-PE, a lightweight, learning-based pose evaluator designed to enhance the accuracy of pose selection, especially in challenging point cloud scenarios with low overlap. Our network incorporates a Pose-Aware Attention (PAA) module to simulate and learn the alignment status of point clouds under various candidate poses, alongside a Pose Confidence Prediction (PCP) module that predicts the likelihood of successful registration. These two modules facilitate the learning of both local and global alignment priors. Extensive tests across multiple benchmarks confirm the effectiveness of Deep-PE. Notably, on 3DLoMatch with a low overlap rate, Deep-PE significantly outperforms state-of-the-art methods by at least 8% and 11% in registration recall under handcrafted FPFH and learning-based FCGF descriptors, respectively. To the best of our knowledge, this is the first study to utilize deep learning to select the optimal pose without the explicit need for input correspondences.

Flatten Anything: Unsupervised Neural Surface Parameterization

Surface parameterization plays an essential role in numerous computer graphics and geometry processing applications. Traditional parameterization approaches are designed for high-quality meshes laboriously created by specialized 3D modelers, thus unable to meet the processing demand for the current explosion of ordinary 3D data. Moreover, their working mechanisms are typically restricted to certain simple topologies, thus relying on cumbersome manual efforts (e.g., surface cutting, part segmentation) for pre-processing. In this paper, we introduce the Flatten Anything Model (FAM), an unsupervised neural architecture to achieve global free-boundary surface parameterization via learning point-wise mappings between 3D points on the target geometric surface and adaptively-deformed UV coordinates within the 2D parameter domain. To mimic the actual physical procedures, we ingeniously construct geometrically-interpretable sub-networks with specific functionalities of surface cutting, UV deforming, unwrapping, and wrapping, which are assembled into a bi-directional cycle mapping framework. Compared with previous methods, our FAM directly operates on discrete surface points without utilizing connectivity information, thus significantly reducing the strict requirements for mesh quality and even applicable to unstructured point cloud data. More importantly, our FAM is fully-automated without the need for pre-cutting and can deal with highly-complex topologies, since its learning process adaptively finds reasonable cutting seams and UV boundaries. Extensive experiments demonstrate the universality, superiority, and inspiring potential of our proposed neural surface parameterization paradigm. The code will be publicly available.

NeurCross: A Self-Supervised Neural Approach for Representing Cross Fields in Quad Mesh Generation

Quadrilateral mesh generation plays a crucial role in numerical simulations within Computer-Aided Design and Engineering (CAD/E). The quality of the cross field is essential for generating a quadrilateral mesh. In this paper, we propose a self-supervised neural representation of the cross field, named NeurCross, comprising two modules: one to fit the signed distance function (SDF) and another to predict the cross field. Unlike most existing approaches that operate directly on the given polygonal surface, NeurCross takes the SDF as a bridge to allow for SDF overfitting and the prediction of the cross field to proceed simultaneously. By utilizing a neural SDF, we achieve a smooth representation of the base surface, minimizing the impact of piecewise planar discretization and minor surface variations. Moreover, the principal curvatures and directions are fully encoded by the Hessian of the SDF, enabling the regularization of the overall cross field through minor adjustments to the SDF. Compared to state-of-the-art methods, NeurCross significantly improves the placement of singular points and the approximation accuracy between the input triangular surface and the output quad mesh, as demonstrated in the teaser figure.

ComboStoc: Combinatorial Stochasticity for Diffusion Generative Models

In this paper, we study an under-explored but important factor of diffusion generative models, i.e., the combinatorial complexity. Data samples are generally high-dimensional, and for various structured generation tasks, there are additional attributes which are combined to associate with data samples. We show that the space spanned by the combination of dimensions and attributes is insufficiently sampled by existing training scheme of diffusion generative models, causing degraded test time performance. We present a simple fix to this problem by constructing stochastic processes that fully exploit the combinatorial structures, hence the name ComboStoc. Using this simple strategy, we show that network training is significantly accelerated across diverse data modalities, including images and 3D structured shapes. Moreover, ComboStoc enables a new way of test time generation which uses insynchronized time steps for different dimensions and attributes, thus allowing for varying degrees of control over them.

Era3D: High-Resolution Multiview Diffusion using Efficient Row-wise Attention

In this paper, we introduce Era3D, a novel multiview diffusion method that generates high-resolution multiview images from a single-view image. Despite significant advancements in multiview generation, existing methods still suffer from camera prior mismatch, inefficacy, and low resolution, resulting in poor-quality multiview images. Specifically, these methods assume that the input images should comply with a predefined camera type, e.g. a perspective camera with a fixed focal length, leading to distorted shapes when the assumption fails. Moreover, the full-image or dense multiview attention they employ leads to an exponential explosion of computational complexity as image resolution increases, resulting in prohibitively expensive training costs. To bridge the gap between assumption and reality, Era3D first proposes a diffusion-based camera prediction module to estimate the focal length and elevation of the input image, which allows our method to generate images without shape distortions. Furthermore, a simple but efficient attention layer, named row-wise attention, is used to enforce epipolar priors in the multiview diffusion, facilitating efficient cross-view information fusion. Consequently, compared with state-of-the-art methods, Era3D generates high-quality multiview images with up to a 512*512 resolution while reducing computation complexity by 12x times. Comprehensive experiments demonstrate that Era3D can reconstruct high-quality and detailed 3D meshes from diverse single-view input images, significantly outperforming baseline multiview diffusion methods.