Picasso produces multi-object scene reconstructions that are both geometrically accurate and physically plausible by using physics-constrained rejection sampling over an inferred contact graph, outperforming prior methods on a new real-world dataset and YCB-V.
Galileo: Perceiving physical object properties by integrating a physics engine with deep learning.Advances in Neural Information Processing Systems (NeurIPS), 28, 2015
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Picasso: Holistic Scene Reconstruction with Physics-Constrained Sampling
Picasso produces multi-object scene reconstructions that are both geometrically accurate and physically plausible by using physics-constrained rejection sampling over an inferred contact graph, outperforming prior methods on a new real-world dataset and YCB-V.