RecGen achieves state-of-the-art 3D multi-object scene reconstruction from sparse RGB-D views by combining compositional synthetic scene generation with strong 3D shape priors, outperforming SAM3D by 30%+ in shape quality and pose accuracy while using 80% fewer meshes.
Real-to-Sim Robot Policy Evaluation with Gaussian Splatting Simulation of Soft-Body Interactions
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Reconstruction by Generation: 3D Multi-Object Scene Reconstruction from Sparse Observations
RecGen achieves state-of-the-art 3D multi-object scene reconstruction from sparse RGB-D views by combining compositional synthetic scene generation with strong 3D shape priors, outperforming SAM3D by 30%+ in shape quality and pose accuracy while using 80% fewer meshes.