Publications

ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI

Stone Tao, Fanbo Xiang, Arth Shukla, Yuzhe Qin, Xander Hinrichsen, Xiaodi Yuan, Chen Bao, Xinsong Lin, Yulin Liu, Tse-kai Chan, Yuan Gao, Xuanlin Li, Tongzhou Mu, Nan Xiao, Arnav Gurha, Zhiao Huang, Roberto Calandra, Rui Chen, Shan Luo, Hao Su

Arxiv2024 [PDF] [Project] [Code]

ManiSkill3 is an open-source, GPU-parallelized robotics simulator focusing on generalizable manipulation with contact-rich physics.

SpaRP: Fast 3D Object Reconstruction and Pose Estimation from Sparse Views

Chao Xu, Ang Li, Linghao Chen, Yulin Liu, Ruoxi Shi, Hao Su^†, Minghua Liu^†

ECCV2024 [PDF] [Project]

Given sparse unposed views, we leverage rich priors embedded in multiview diffusion models to predict their poses and reconstruct the 3D shape.

Delving into Discrete Normalizing Flows on SO(3) Manifold for Probabilistic Rotation Modeling

Yulin Liu^*, Haoran Liu^*, Yingda Yin^*, Yang Wang, Baoquan Chen^†, He Wang^†

CVPR2023 [PDF] [Project] [Code]

We propose a discrete normalizing flow on SO(3) manifold, through which one can not only effectively express arbitrary distributions on SO(3), but also conditionally build the target distribution given input observations.