HetScene proposes a two-stage heterogeneous diffusion framework that decomposes scenes into primary structural objects and secondary contextual objects to generate denser, more plausible indoor layouts.
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3D Diffuser Actor unifies diffusion policies with 3D scene features to set new state-of-the-art results on RLBench and CALVIN robot benchmarks.
Augmenting robot datasets via diffusion-based semantic inpainting enables manipulation policies to solve unseen tasks with new objects and improves robustness to novel distractors.
citing papers explorer
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HetScene: Heterogeneity-Aware Diffusion for Dense Indoor Scene Generation
HetScene proposes a two-stage heterogeneous diffusion framework that decomposes scenes into primary structural objects and secondary contextual objects to generate denser, more plausible indoor layouts.
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3D Diffuser Actor: Policy Diffusion with 3D Scene Representations
3D Diffuser Actor unifies diffusion policies with 3D scene features to set new state-of-the-art results on RLBench and CALVIN robot benchmarks.
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Scaling Robot Learning with Semantically Imagined Experience
Augmenting robot datasets via diffusion-based semantic inpainting enables manipulation policies to solve unseen tasks with new objects and improves robustness to novel distractors.