A differentiable optimization pipeline uses a contact graph and rigid-body simulation to jointly refine object poses and physical properties, producing physically valid 3D scene reconstructions from single-view RGB-D observations for cluttered environments.
Holoscene: Simulation-ready interactive 3d worlds from a single video,
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Real-to-Sim for Highly Cluttered Environments via Physics-Consistent Inter-Object Reasoning
A differentiable optimization pipeline uses a contact graph and rigid-body simulation to jointly refine object poses and physical properties, producing physically valid 3D scene reconstructions from single-view RGB-D observations for cluttered environments.