Picasso is an inference-time pose corrector that uses physics-constrained rejection sampling and a contact scene graph to make multi-object scene reconstructions physically plausible and often more accurate.
Box pose and shape estimation and domain adaptation for large-scale warehouse automation
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Picasso: Holistic Scene Reconstruction with Physics-Constrained Sampling
Picasso is an inference-time pose corrector that uses physics-constrained rejection sampling and a contact scene graph to make multi-object scene reconstructions physically plausible and often more accurate.