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.
Box pose and shape estimation and domain adaptation for large-scale warehouse automation.arXiv preprint arXiv:2507.00984, 2025
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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.