Publications

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Publications of the physics research team can be found here.

SCube: Instant Large-Scale Scene Reconstruction using VoxSplats

NeurIPS 2024

We present SCube, a novel method for reconstructing large-scale 3D scenes (geometry, appearance, and semantics) from a sparse set of posed images. Our method encodes reconstructed scenes using a novel representation VoxSplat, which is a set of 3D Gaussians supported on a high-resolution sparse-voxel scaffold. To reconstruct a VoxSplats from images, we employ a hierarchical voxel latent diffusion model conditioned on the input images followed by a feedforward appearance prediction model. The diffusion model generates high-resolution grids progressively in a coarse-to-fine manner, and the appearance network predicts a set of Gaussians within each voxel. From as few as 3 non-overlapping input images, SCube can generate millions of Gaussians with a 1024^3 voxel grid spanning hundreds of meters in 20 seconds. We show the superiority of SCube compared to prior art using the Waymo self-driving dataset on 3D reconstruction and demonstrate its applications, such as LiDAR simulation and …

Xuanchi Ren, Yifan Lu, Hanxue Liang, Jay Wu, Huan Ling, Mike Chen, Sanja Fidler, Francis Williams, Jiahui Huang

PDF Project

SCube: Instant Large-Scale Scene Reconstruction using VoxSplats

Zero-to-Hero: Enhancing Zero-Shot Novel View Synthesis via Attention Map Filtering

NeurIPS 2024

Generating realistic images from arbitrary views based on a single source image remains a significant challenge in computer vision, with broad applications ranging from e-commerce to immersive virtual experiences. Recent advancements in diffusion models, particularly the Zero-1-to-3 model, have been widely adopted for generating plausible views, videos, and 3D models. However, these models still struggle with inconsistencies and implausibility in new views generation, especially for challenging changes in viewpoint. In this work, we propose Zero-to-Hero, a novel test-time approach that enhances view synthesis by manipulating attention maps during the denoising process of Zero-1-to-3. By drawing an analogy between the denoising process and stochastic gradient descent (SGD), we implement a filtering mechanism that aggregates attention maps, enhancing generation reliability and authenticity. This process improves geometric consistency without requiring retraining or significant …

Ido Sobol, Chenfeng Xu, Or Litany

PDF Project

Zero-to-Hero: Enhancing Zero-Shot Novel View Synthesis via Attention Map Filtering

3D Gaussian Ray Tracing: Fast Tracing of Particle Scenes

SIGGRAPH Asia 2024

Particle-based representations of radiance fields such as 3D Gaussian Splatting have found great success for reconstructing and re-rendering of complex scenes. Most existing methods render particles via rasterization, projecting them to screen space tiles for processing in a sorted order. This work instead considers ray tracing the particles, building a bounding volume hierarchy and casting a ray for each pixel using high-performance GPU ray tracing hardware. To efficiently handle large numbers of semi-transparent particles, we describe a specialized rendering algorithm which encapsulates particles with bounding meshes to leverage fast ray-triangle intersections, and shades batches of intersections in depth-order. The benefits of ray tracing are well-known in computer graphics: processing incoherent rays for secondary lighting effects such as shadows and reflections, rendering from highly-distorted cameras common in robotics, stochastically sampling rays, and more. With our renderer, …

Nicolas Moenne-Loccoz, Ashkan Mirzaei, Or Perel, Riccardo de Lutio, Janick Martinez Esturo, Gavriel State, Sanja Fidler, Nicholas Sharp, Zan Gojcic

PDF Project Video

3D Gaussian Ray Tracing: Fast Tracing of Particle Scenes

Robust Symmetry Detection via Riemannian Langevin Dynamics

SIGGRAPH Asia 2024

Symmetries are ubiquitous across all kinds of objects, whether in nature or in man-made creations. While these symmetries may seem intuitive to the human eye, detecting them with a machine is nontrivial due to the vast search space. Classical geometry-based methods work by aggregating “votes” for each symmetry but struggle with noise. In contrast, learning-based methods may be more robust to noise, but often overlook partial symmetries due to the scarcity of annotated data. In this work, we address this challenge by proposing a novel symmetry detection method that marries classical symmetry detection techniques with recent advances in generative modeling. Specifically, we apply Langevin dynamics to a redefined symmetry space to enhance robustness against noise. We provide empirical results on a variety of shapes that suggest our method is not only robust to noise, but can also identify both partial and global symmetries. Moreover, we demonstrate the utility of our detected symmetries …

Jihyeon Je, Jiayi Liu, Guandao Yang, Boyang Deng, Shengqu Cai, Gordon Wetzstein, Or Litany, Leonidas Guibas

PDF Project

Robust Symmetry Detection via Riemannian Langevin Dynamics

SpaceMesh: A Continuous Representation for Learning Manifold Surface Meshes

SIGGRAPH Asia 2024

Meshes are ubiquitous in visual computing and simulation, yet most existing machine learning techniques represent meshes only indirectly, e.g. as the level set of a scalar field or deformation of a template, or as a disordered triangle soup lacking local structure. This work presents a scheme to directly generate manifold, polygonal meshes of complex connectivity as the output of a neural network. Our key innovation is to define a continuous latent connectivity space at each mesh vertex, which implies the discrete mesh. In particular, our vertex embeddings generate cyclic neighbor relationships in a halfedge mesh representation, which gives a guarantee of edge-manifoldness and the ability to represent general polygonal meshes. This representation is well-suited to machine learning and stochastic optimization, without restriction on connectivity or topology. We first explore the basic properties of this representation, then use it to fit distributions of meshes from large datasets. The …

Tianchang Shen, Zhaoshuo Li, Marc Law, Matan Atzmon, Sanja Fidler, James Lucas, Jun Gao, Nicholas Sharp

PDF Project

SpaceMesh: A Continuous Representation for Learning Manifold Surface Meshes

LATTE3D: Large-scale Amortized Text-To-Enhanced3D Synthesis

ECCV 2024

Recent text-to-3D generation approaches produce impressive 3D results but require time-consuming optimization that can take up to an hour per prompt. Amortized methods like ATT3D optimize multiple prompts simultaneously to improve efficiency, enabling fast text-to-3D synthesis. However, they cannot capture high-frequency geometry and texture details and struggle to scale to large prompt sets, so they generalizes poorly. We introduce LATTE3D, addressing these limitations to achieve fast, high-quality generation on a significantly larger prompt set. Key to our method is 1) building a scalable architecture and 2) leveraging 3D data during optimization through 3D-aware diffusion priors, shape regularization, and model initialization to achieve robustness to diverse and complex training prompts. LATTE3D amortizes both neural field and textured surface generation to produce highly detailed textured meshes in a single forward pass. LATTE3D generates 3D objects in 400ms, and can be further …

Kevin Xie, Jonathan Lorraine, Tianshi Cao, Jun Gao, James Lucas, Antonio Torralba, Sanja Fidler, Xiaohui Zeng

PDF Project

LATTE3D: Large-scale Amortized Text-To-Enhanced3D Synthesis

Generating Human Interaction Motions in Scenes with Text Control

ECCV 2024

We present TeSMo, a method for text-controlled scene-aware motion generation based on denoising diffusion models. Previous text-to-motion methods focus on characters in isolation without considering scenes due to the limited availability of datasets that include motion, text descriptions, and interactive scenes. Our approach begins with pre-training a scene-agnostic text-to-motion diffusion model, emphasizing goal-reaching constraints on large-scale motion-capture datasets. We then enhance this model with a scene-aware component, fine-tuned using data augmented with detailed scene information, including ground plane and object shapes. To facilitate training, we embed annotated navigation and interaction motions within scenes. The proposed method produces realistic and diverse human-object interactions, such as navigation and sitting, in different scenes with various object shapes, orientations, initial body positions, and poses. Extensive experiments demonstrate that our approach …

Hongwei Yi, Justus Thies, Michael J. Black, Xue Bin Peng, Davis Rempe

PDF Project Video

Generating Human Interaction Motions in Scenes with Text Control

Photorealistic Object Insertion with Diffusion-Guided Inverse Rendering

ECCV 2024

The correct insertion of virtual objects in images of real-world scenes requires a deep understanding of the scene’s lighting, geometry and materials, as well as the image formation process. While recent large-scale diffusion models have shown strong generative and inpainting capabilities, we find that current models do not sufficiently understand the scene shown in a single picture to generate consistent lighting effects (shadows, bright reflections, etc.) while preserving the identity and details of the composited object. We propose using a personalized large diffusion model as guidance to a physically based inverse rendering process. Our method recovers scene lighting and tone-mapping parameters, allowing the photorealistic composition of arbitrary virtual objects in single frames or videos of indoor or outdoor scenes. Our physically based pipeline further enables automatic materials and tone-mapping refinement.

Ruofan Liang, Zan Gojcic, Merlin Nimier-David, David Acuna, Nandita Vijaykumar, Sanja Fidler, Zian Wang

PDF Project

Photorealistic Object Insertion with Diffusion-Guided Inverse Rendering

Diffusion Texture Painting

SIGGRAPH 2024

We present a technique that leverages 2D generative diffusion models (DMs) for interactive texture painting on the surface of 3D meshes. Unlike existing texture painting systems, our method allows artists to paint with any complex image texture, and in contrast with traditional texture synthesis, our brush not only generates seamless strokes in real-time, but can inpaint realistic transitions between different textures. To enable this application, we present a stamp-based method that applies an adapted pre-trained DM to inpaint patches in local render space, which is then projected into the texture image, allowing artists control over brush stroke shape and texture orientation. We further present a way to adapt the inference of a pre-trained DM to ensure stable texture brush identity, while allowing the DM to hallucinate infinite variations of the source texture. Our method is the first to use DMs for interactive texture painting, and we hope it will inspire work on applying generative …

Anita Hu, Nishkrit Desai, Hassan Abu Alhaija, Seung Wook Kim, Masha Shugrina

PDF Code Project Video

fVDB: A Deep-Learning Framework for Sparse, Large-Scale, and High-Performance Spatial Intelligence

SIGGRAPH 2024

We present fVDB, a novel GPU-optimized framework for deep learning on large-scale 3D data. fVDB provides a complete set of differentiable primitives to build deep learning architectures for common tasks in 3D learning such as convolution, pooling, attention, ray-tracing, meshing, etc.

Francis Williams, Jiahui Huang, Jonathan Swartz, Gergely Klár, Vijay Thakkar, Matthew Cong, Xuanchi Ren, Ruilong Li, Clement Fuji-Tsang, Sanja Fidler, Eftychios Sifakis, Ken Museth

PDF Project

fVDB: A Deep-Learning Framework for Sparse, Large-Scale, and High-Performance Spatial Intelligence

Simplicits: Mesh-Free, Geometry-Agnostic, Elastic Simulation

SIGGRAPH 2024

The proliferation of 3D representations, from explicit meshes to implicit neural fields and more, motivates the need for simulators agnostic to representation. We present a data-, mesh-, and grid-free solution for elastic simulation for any object in any geometric representation undergoing large, nonlinear deformations. We note that every standard geometric representation can be reduced to an occupancy function queried at any point in space, and we define a simulator atop this common interface. For each object, we fit a small implicit neural network encoding spatially varying weights that act as a reduced deformation basis. These weights are trained to learn physically significant motions in the object via random perturbations. Our loss ensures we find a weight-space basis that best minimizes deformation energy by stochastically evaluating elastic energies through Monte Carlo sampling of the deformation volume. At runtime, we simulate in the reduced basis and sample the deformations …

Vismay Modi, Nicholas Sharp, Or Perel, Shinjiro Sueda, David I. W. Levin

PDF Project Video

Simplicits: Mesh-Free, Geometry-Agnostic, Elastic Simulation

SuperPADL: Scaling Language-Directed Physics-Based Control with Progressive Supervised Distillation

SIGGRAPH 2024

Physically-simulated models for human motion can generate high-quality responsive character animations, often in real-time. Natural language serves as a flexible interface for controlling these models, allowing expert and non-expert users to quickly create and edit their animations. Many recent physics-based animation methods, including those that use text interfaces, train control policies using reinforcement learning (RL). However, scaling these methods beyond several hundred motions has remained challenging. Meanwhile, kinematic animation models are able to successfully learn from thousands of diverse motions by leveraging supervised learning methods. Inspired by these successes, in this work we introduce SuperPADL, a scalable framework for physics-based text-to-motion that leverages both RL and supervised learning to train controllers on thousands of diverse motion clips. SuperPADL is trained in stages using progressive distillation, starting with a large number of specialized …

Jordan Juravsky, Yunrong Guo, Sanja Fidler, Xue Bin Peng

PDF Project Video

Large-Scale 3D Generative Modeling using Sparse Voxel Hierarchies

CVPR 2024 (Higlight)

We present XCube, a novel generative model for high-resolution sparse 3D voxel grids with arbitrary attributes. Our model can generate millions of voxels with a finest effective resolution of up to 1024^3 in a feed-forward fashion without time-consuming test-time optimization. To achieve this, we employ a hierarchical voxel latent diffusion model which generates progressively higher resolution grids in a coarse-to-fine manner using a custom framework built on the highly efficient VDB data structure. Apart from generating high-resolution objects, we demonstrate the effectiveness of Xcube on large outdoor scenes at scales of 100m x 100m with a voxel size as small as 10cm. We observe clear qualitative and quantitative improvements over past approaches. In addition to unconditional generation, we show that our model can be used to solve a variety of tasks such as user-guided editing, scene completion from a single scan, and text-to-3D.

Xuanchi Ren, Jiahui Huang, Xiaohui Zeng, Ken Museth, Sanja Fidler, Francis Williams

PDF Project

Large-Scale 3D Generative Modeling using Sparse Voxel Hierarchies

Outdoor Scene Extrapolation with Hierarchical Generative Cellular Automata

CVPR 2024 (Higlight)

We aim to generate fine-grained 3D geometry from large-scale sparse LiDAR scans, abundantly captured by autonomous vehicles (AV). Contrary to prior work on AV scene completion, we aim to extrapolate fine geometry from unlabeled and beyond spatial limits of LiDAR scans, taking a step towards generating realistic, high-resolution simulation-ready 3D street environments. We propose hierarchical Generative Cellular Automata (hGCA), a spatially scalable conditional 3D generative model, which grows geometry recursively with local kernels following GCAs, in a coarse-to-fine manner, equipped with a light-weight planner to induce global consistency. Experiments on synthetic scenes show that hGCA generates plausible scene geometry with higher fidelity and completeness compared to state-of-the-art baselines. Our model generalizes strongly from sim-to-real, qualitatively outperforming baselines on the Waymo-open dataset. We also show anecdotal evidence of the ability to create novel objects from …

Dongsu Zhang, Francis Williams, Zan Gojcic, Karsten Kreis, Sanja Fidler, Young Min Kim, Amlan Kar

PDF Project Video

Outdoor Scene Extrapolation with Hierarchical Generative Cellular Automata

STMC: Multi-Track Timeline Control for Text-Driven 3D Human Motion Generation

CVPRW 2024

Recent advances in generative modeling have led to promising progress on synthesizing 3D human motion from text, with methods that can generate character animations from short prompts and specified durations. However, using a single text prompt as input lacks the fine-grained control needed by animators, such as composing multiple actions and defining precise durations for parts of the motion. To address this, we introduce the new problem of timeline control for text-driven motion synthesis, which provides an intuitive, yet fine-grained, input interface for users. Instead of a single prompt, users can specify a multi-track timeline of multiple prompts organized in temporal intervals that may overlap. This enables specifying the exact timings of each action and composing multiple actions in sequence or at overlapping intervals. To generate composite animations from a multi-track timeline, we propose a new test-time denoising method. This method can be integrated with any pre-trained …

Mathis Petrovich, Or Litany, Umar Iqbal, Michael J. Black, Gül Varol, Xue Bin Peng, Davis Rempe

PDF Code Project Video

STMC: Multi-Track Timeline Control for Text-Driven 3D Human Motion Generation

Graph Metanetworks for Processing Diverse Neural Architectures

ICLR 2024 (Spotlight)

Neural networks efficiently encode learned information within their parameters. Consequently, many tasks can be unified by treating neural networks themselves as input data. When doing so, recent studies demonstrated the importance of accounting for the symmetries and geometry of parameter spaces. However, those works developed architectures tailored to specific networks such as MLPs and CNNs without normalization layers, and generalizing such architectures to other types of networks can be challenging. In this work, we overcome these challenges by building new metanetworks — neural networks that take weights from other neural networks as input. Put simply, we carefully build graphs representing the input neural networks and process the graphs using graph neural networks. Our approach, Graph Metanetworks (GMNs), generalizes to neural architectures where competing methods struggle, such as multi-head attention layers, normalization layers, convolutional layers, ResNet blocks, and …

Derek Lim, Haggai Maron, Marc T. Law, Jonathan Lorraine, James Lucas

PDF Project

Graph Metanetworks for Processing Diverse Neural Architectures

Adaptive Shells for Efficient Neural Radiance Field Rendering

SIGGRAPH Asia 2023 (Best Paper Award)

Neural radiance fields achieve unprecedented quality for novel view synthesis, but their volumetric formulation remains expensive, requiring a huge number of samples to render high-resolution images. Volumetric encodings are essential to represent fuzzy geometry such as foliage and hair, and they are well-suited for stochastic optimization. Yet, many scenes ultimately consist largely of solid surfaces which can be accurately rendered by a single sample per pixel. Based on this insight, we propose a neural radiance formulation that smoothly transitions between volumetric- and surface-based rendering, greatly accelerating rendering speed and even improving visual fidelity. Our method constructs an explicit mesh envelope which spatially bounds a neural volumetric representation. In solid regions, the envelope nearly converges to a surface and can often be rendered with a single sample. To this end, we generalize the NeuS formulation with a learned spatially-varying kernel size which …

Zian Wang, Tianchang Shen, Merlin Nimier-David, Nicholas Sharp, Jun Gao, Alexander Keller, Sanja Fidler, Thomas Müller, Zan Gojcic

PDF Project Video

Adaptive Shells for Efficient Neural Radiance Field Rendering

Compact Neural Graphics Primitives with Learned Hash Probing

SIGGRAPH Asia 2023

Compact neural graphics primitives (Ours) have an inherently small size across a variety of use cases with automatically chosen hyperparameters. In contrast to similarly compressed representations like JPEG for images (top) and masked wavelet representations [Rho et al. 2023] for NeRFs [Mildenhall et al. 2020] (bottom), our representation neither uses quantization nor coding, and hence can be queried without a dedicated decompression step. This is essential for level of detail streaming and working-memory-constrained environments such as video game texture compression. The compression artifacts of our method are easy on the eye: there is less ringing than in JPEG and less blur than in Rho et al. (though more noise). Compact neural graphics primitives are also fast: training is only 1.2-2.6x slower (depending on compression settings) and inference is faster than Instant NGP because our significantly reduced file size fits better into caches.

Towaki Takikawa, Thomas Müller, Merlin Nimier-David, Alex Evans, Sanja Fidler, Alec Jacobson, Alexander Keller

PDF Project

Compact Neural Graphics Primitives with Learned Hash Probing

Language-Guided Traffic Simulation via Scene-Level Diffusion

CoRL 2023

Realistic and controllable traffic simulation is a core capability that is necessary to accelerate autonomous vehicle (AV) development. However, current approaches for controlling learning-based traffic models require significant domain expertise and are difficult for practitioners to use. To remedy this, we present CTG++, a scene-level conditional diffusion model that can be guided by language instructions. Developing this requires tackling two challenges: the need for a realistic and controllable traffic model backbone, and an effective method to interface with a traffic model using language. To address these challenges, we first propose a scene-level diffusion model equipped with a spatio-temporal transformer backbone, which generates realistic and controllable traffic. We then harness a large language model (LLM) to convert a user’s query into a loss function, guiding the diffusion model towards query-compliant generation. Through comprehensive evaluation, we demonstrate the …

Ziyuan Zhong, Davis Rempe, Yuxiao Chen, Boris Ivanovic, Yulong Cao, Danfei Xu, Marco Pavone, Baishakhi Ray

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Language-Guided Traffic Simulation via Scene-Level Diffusion

TexFusion: Synthesizing 3D Textures with Text-Guided Image Diffusion Models

ICCV 2023 (Oral)

We present TexFusion(Texture Diffusion), a new method to synthesize textures for given 3D geometries, using only large-scale text-guided image diffusion models. In contrast to recent works that leverage 2D text-to-image diffusion models to distill 3D objects using a slow and fragile optimization process, TexFusion introduces a new 3D-consistent generation technique specifically designed for texture synthesis that employs regular diffusion model sampling on different 2D rendered views. Specifically, we leverage latent diffusion models, apply the diffusion model’s denoiser on a set of 2D renders of the 3D object, and aggregate the different denoising predictions on a shared latent texture map. Final RGB output textures are produced by optimizing an intermediate neural color field on the decodings of 2D renders of the latent texture. We thoroughly validate TexFusion and show that we can efficiently generate diverse, high quality and globally coherent textures. We achieve …

Tianshi Cao, Karsten Kreis, Sanja Fidler, Nicholas Sharp, Kangxue Yin

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TexFusion: Synthesizing 3D Textures with Text-Guided Image Diffusion Models

ATT3D: Amortized Text-to-3D Object synthesis

ICCV 2023

Text-to-3D modeling has seen exciting progress by combining generative text-to-image models with image-to-3D methods like Neural Radiance Fields. DreamFusion recently achieved high-quality results but requires a lengthy, per-prompt optimization to create 3D objects. To address this, we amortize optimization over text prompts by training on many prompts simultaneously with a unified model, instead of separately. With this, we share computation across a prompt set, training in less time than per-prompt optimization. Our framework - Amortized Text-to-3D (ATT3D) - enables sharing of knowledge between prompts to generalize to unseen setups and smooth interpolations between text for novel assets and simple animations.

Jonathan Lorraine, Kevin Xie, Xiaohui Zeng, Chen-Hsuan Lin, Towaki Takikawa, Nicholas Sharp, Tsung-Yi Lin, Ming-Yu Liu, Sanja Fidler, James Lucas

PDF Project Video

ATT3D: Amortized Text-to-3D Object synthesis

DreamTeacher: Pretraining Image Backbones with Deep Generative Models

ICCV 2023

In this work, we introduce a self-supervised feature representation learning framework DreamTeacher that utilizes generative networks for pre-training downstream image backbones. We propose to distill knowledge from a trained generative model into standard image backbones that have been well engineered for specific perception tasks. We investigate two types of knowledge distillation: 1) distilling learned generative features onto target image backbones as an alternative to pretraining these backbones on large labeled datasets such as ImageNet, and 2) distilling labels obtained from generative networks with task heads onto logits of target backbones. We perform extensive analysis on several generative models, dense prediction benchmarks, and several pre-training regimes. We empirically find that our DreamTeacher significantly outperforms existing self-supervised representation learning approaches across the board. Unsupervised ImageNet pre-training with DreamTeacher leads to significant …

Daiqing Li, Huan Ling, Amlan Kar, David Acuna, Seung Wook Kim, Karsten Kreis, Antonio Torralba, Sanja Fidler

PDF Project

DreamTeacher: Pretraining Image Backbones with Deep Generative Models

Learning Human Dynamics in Autonomous Driving Scenarios

ICCV 2023

Simulation has emerged as an indispensable tool for scaling and accelerating the development of self-driving systems. A critical aspect of this is simulating realistic and diverse human behavior and intent. In this work, we propose a holistic framework for learning physically plausible human dynamics from real driving scenarios, narrowing the gap between real and simulated human behavior in safety-critical applications. We show that state-of-the-art methods underperform in driving scenarios where video data is recorded from moving vehicles, and humans are frequently partially or fully occluded. Furthermore, existing methods often disregard the global scene where humans are situated, resulting in various motion artifacts like foot sliding, floating, or ground penetration. Therefore, the primary technical challenge of this work is to infer physically plausible human dynamics for the occluded body parts on uneven terrain, based on visible motions. To address this challenge, we propose an …

Jingbo Wang, Ye Yuan, Zhengyi Luo, Kevin Xie, Dahua Lin, Umar Iqbal, Sanja Fidler, Sameh Khamis

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Learning Human Dynamics in Autonomous Driving Scenarios

Neural LiDAR Fields for Novel View Synthesis

ICCV 2023

We present Neural Fields for LiDAR (NFL), a method to optimise a neural field scene representation from LiDAR measurements, with the goal of synthesizing realistic LiDAR scans from novel viewpoints. NFL combines the rendering power of neural fields with a detailed, physically motivated model of the LiDAR sensing process, thus enabling it to accurately reproduce key sensor behaviors like beam divergence, secondary returns, and ray dropping. We evaluate NFL on synthetic and real LiDAR scans and show that it outperforms explicit reconstruct-then-simulate methods as well as other NeRF-style methods on LiDAR novel view synthesis task. Moreover, we show that the improved realism of the synthesized views narrows the domain gap to real scans and translates to better registration and semantic segmentation performance.

Shengyu Huang, Zan Gojcic, Zian Wang, Francis Williams, Yoni Kasten, Sanja Fidler, Konrad Schindler, Or Litany

PDF Project

Neural LiDAR Fields for Novel View Synthesis

SKED: Sketch-guided Text-based 3D Editing

ICCV 2023

Text-to-image diffusion models are gradually introduced into computer graphics, recently enabling the development of Text-to-3D pipelines in an open domain. However, for interactive editing purposes, local manipulations of content through a simplistic textual interface can be arduous. Incorporating user guided sketches with Text-to-image pipelines offers users more intuitive control. Still, as state-of-the-art Text-to-3D pipelines rely on optimizing Neural Radiance Fields (NeRF) through gradients from arbitrary rendering views, conditioning on sketches is not straightforward. In this paper, we present SKED, a technique for editing 3D shapes represented by NeRFs. Our technique utilizes as few as two guiding sketches from different views to alter an existing neural field. The edited region respects the prompt semantics through a pre-trained diffusion model. To ensure the generated output adheres to the provided sketches, we propose novel loss functions to generate the desired edits while …

Aryan Mikaeili, Or Perel, Mehdi Safaee, Daniel Cohen-Or, Ali Mahdavi-Amiri

PDF Project

SKED: Sketch-guided Text-based 3D Editing

Towards Viewpoint Robustness in Bird's Eye View Segmentation

ICCV 2023

Autonomous vehicles (AV) require that neural networks used for perception be robust to different viewpoints if they are to be deployed across many types of vehicles without the repeated cost of data collection and labeling for each. AV companies typically focus on collecting data from diverse scenarios and locations, but not camera rig configurations, due to cost. As a result, only a small number of rig variations exist across most fleets. In this paper, we study how AV perception models are affected by changes in camera viewpoint and propose a way to scale them across vehicle types without repeated data collection and labeling. Using bird’s eye view (BEV) segmentation as a motivating task, we find through extensive experiments that existing perception models are surprisingly sensitive to changes in camera viewpoint. When trained with data from one camera rig, small changes to pitch, yaw, depth, or height of the camera at inference time lead to large drops in performance. We …

Tzofi Klinghoffer, Jonah Philion, Wenzheng Chen, Or Litany, Zan Gojcic, Jungseock Joo, Ramesh Raskar, Sanja Fidler, Jose M. Alvarez

PDF Project

Towards Viewpoint Robustness in Bird's Eye View Segmentation

Bridging the Sim2Real gap with CARE: Supervised Detection Adaptation with Conditional Alignment and Reweighting

TMLR 2023

Sim2Real domain adaptation (DA) research focuses on the constrained setting of adapting from a labeled synthetic source domain to an unlabeled or sparsely labeled real target domain. However, for high-stakes applications (e.g. autonomous driving), it is common to have a modest amount of human-labeled real data in addition to plentiful auto-labeled source data (e.g. from a driving simulator). We study this setting of supervised sim2real DA applied to 2D object detection. We propose Domain Translation via Conditional Alignment and Reweighting (CARE) a novel algorithm that systematically exploits target labels to explicitly close the sim2real appearance and content gaps. We present an analytical justification of our algorithm and demonstrate strong gains over competing methods on standard benchmarks.

Viraj Prabhu, David Acuna, Andrew Liao, Rafid Mahmood, Marc T. Law, Judy Hoffman, Sanja Fidler, James Lucas

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Bridging the Sim2Real gap with CARE: Supervised Detection Adaptation with Conditional Alignment and Reweighting

Differentially Private Diffusion Models

TMLR 2023

While modern machine learning models rely on increasingly large training datasets, data is often limited in privacy-sensitive domains. Generative models trained with differential privacy (DP) on sensitive data can sidestep this challenge, providing access to synthetic data instead. We build on the recent success of diffusion models (DMs) and introduce Differentially Private Diffusion Models (DPDMs), which enforce privacy using differentially private stochastic gradient descent (DP-SGD). We investigate the DM parameterization and the sampling algorithm, which turn out to be crucial ingredients in DPDMs, and propose noise multiplicity, a powerful modification of DP-SGD tailored to the training of DMs. We validate our novel DPDMs on image generation benchmarks and achieve state-of-the-art performance in all experiments. Moreover, on standard benchmarks, classifiers trained on DPDM-generated synthetic data perform on par with task-specific DP-SGD-trained classifiers, which has not been …

Tim Dockhorn, Tianshi Cao, Arash Vahdat, Karsten Kreis

PDF Code

CALM: Conditional Adversarial Latent Models for Directable Virtual Characters

SIGGRAPH 2023

In this work, we present Conditional Adversarial Latent Models (CALM), an approach for generating diverse and directable behaviors for user-controlled interactive virtual characters. Using imitation learning, CALM learns a representation of movement that captures the complexity and diversity of human motion, and enables direct control over character movements. The approach jointly learns a control policy and a motion encoder that reconstructs key characteristics of a given motion without merely replicating it. The results show that CALM learns a semantic motion representation, enabling control over the generated motions and style-conditioning for higher-level task training. Once trained, the character can be controlled using intuitive interfaces, akin to those found in video games.

Chen Tessler, Yoni Kasten, Yunrong Guo, Shie Mannor, Gal Chechik, Xue Bin Peng

PDF Code Project

CALM: Conditional Adversarial Latent Models for Directable Virtual Characters

Data-Free Learning of Reduced-Order Kinematic

SIGGRAPH 2023

Physical systems ranging from elastic bodies to kinematic linkages are defined on high-dimensional configuration spaces, yet their typical low-energy configurations are concentrated on much lower-dimensional subspaces. This work addresses the challenge of identifying such subspaces automatically: given as input an energy function for a high-dimensional system, we produce a low-dimensional map whose image parameterizes a diverse yet low-energy submanifold of configurations. The only additional input needed is a single seed configuration for the system to initialize our procedure; no dataset of trajectories is required. We represent subspaces as neural networks that map a low-dimensional latent vector to the full configuration space, and propose a training scheme to fit network parameters to any system of interest. This formulation is effective across a very general range of physical systems; our experiments demonstrate not only nonlinear and very low-dimensional elastic body and cloth …

Nicholas Sharp, Cristian Romero, Alec Jacobson, Etienne Vouga, Paul Kry, David I.W. Levin, Justin Solomon

PDF Code Project Video

Data-Free Learning of Reduced-Order Kinematic

Flexible Isosurface Extraction for Gradient-Based Mesh Optimization

SIGGRAPH 2023

This work considers gradient-based mesh optimization, where we iteratively optimize for a 3D surface mesh by representing it as the isosurface of a scalar field, an increasingly common paradigm in applications including photogrammetry, generative modeling, and inverse physics. Existing implementations adapt classic isosurface extraction algorithms like Marching Cubes or Dual Contouring; these techniques were designed to extract meshes from fixed, known fields, and in the optimization setting they lack the degrees of freedom to represent high-quality feature-preserving meshes, or suffer from numerical instabilities. We introduce FlexiCubes, an isosurface representation specifically designed for optimizing an unknown mesh with respect to geometric, visual, or even physical objectives. Our main insight is to introduce additional carefully-chosen parameters into the representation, which allow local flexible adjustments to the extracted mesh geometry and connectivity. These parameters are …

Tianchang Shen, Jacob Munkberg, Jon Hasselgren, Kangxue Yin, Zian Wang, Wenzheng Chen, Zan Gojcic, Sanja Fidler, Nicholas Sharp, Jun Gao

PDF Code Project Video

Flexible Isosurface Extraction for Gradient-Based Mesh Optimization

Learning Physically Simulated Tennis Skills from Broadcast Videos

SIGGRAPH 2023 (Honorable Mention)

We present a system that learns diverse, physically simulated tennis skills from large-scale demonstrations of tennis play harvested from broadcast videos. Our approach is built upon hierarchical models, combining a low-level imitation policy and a high-level motion planning policy to steer the character in a motion embedding learned from broadcast videos. When deployed at scale on large video collections that encompass a vast set of examples of real-world tennis play, our approach can learn complex tennis shotmaking skills and realistically chain together multiple shots into extended rallies, using only simple rewards and without explicit annotations of stroke types. To address the low quality of motions extracted from broadcast videos, we correct estimated motion with physics-based imitation, and use a hybrid control policy that overrides erroneous aspects of the learned motion embedding with corrections predicted by the high-level policy. We demonstrate that our system produces …

Haotian Zhang, Ye Yuan, Viktor Makoviychuk, Yunrong Guo, Sanja Fidler, Xue Bin Peng, Kayvon Fatahalian

PDF Project

Learning Physically Simulated Tennis Skills from Broadcast Videos

Synthesizing Physical Character-Scene Interactions

SIGGRAPH 2023

Movement is how people interact with and affect their environment. For realistic character animation, it is necessary to synthesize such interactions between virtual characters and their surroundings. Despite recent progress in character animation using machine learning, most systems focus on controlling an agent’s movements in fairly simple and homogeneous environments, with limited interactions with other objects. Furthermore, many previous approaches that synthesize human-scene interactions require significant manual labeling of the training data. In contrast, we present a system that uses adversarial imitation learning and reinforcement learning to train physically-simulated characters that perform scene interaction tasks in a natural and life-like manner. Our method learns scene interaction behaviors from large unstructured motion datasets, without manual annotation of the motion data. These scene interactions are learned using an adversarial discriminator that evaluates the …

Mohamed Hassan, Yunrong Guo, Tingwu Wang, Michael Black, Sanja Fidler, Xue Bin Peng

PDF Project

Synthesizing Physical Character-Scene Interactions

Align your Latents: High-Resolution Video Synthesis with Latent Diffusion Models

CVPR 2023

Latent Diffusion Models (LDMs) enable high-quality image synthesis while avoiding excessive compute demands by training a diffusion model in a compressed lower-dimensional latent space. Here, we apply the LDM paradigm to high-resolution video generation, a particularly resource-intensive task. We first pre-train an LDM on images only; then, we turn the image generator into a video generator by introducing a temporal dimension to the latent space diffusion model and fine-tuning on encoded image sequences, i.e., videos. Similarly, we temporally align diffusion model upsamplers, turning them into temporally consistent video super resolution models. We focus on two relevant real-world applications: Simulation of in-the-wild driving data and creative content creation with text-to-video modeling. In particular, we validate our Video LDM on real driving videos of resolution 512 x 1024, achieving state-of-the-art performance. Furthermore, our approach can easily leverage off-the-shelf …

Andreas Blattmann, Robin Rombach, Huan Ling, Tim Dockhorn, Seung Wook Kim, Sanja Fidler, Karsten Kreis

PDF Project

Align your Latents: High-Resolution Video Synthesis with Latent Diffusion Models

Fast Monocular Scene Reconstruction with Global-Sparse Local-Dense Grids

CVPR 2023

Indoor scene reconstruction from monocular images has long been sought after by augmented reality and robotics developers. Recent advances in neural field representations and monocular priors have led to remarkable results in scene-level surface reconstructions. The reliance on Multilayer Perceptrons (MLP), however, significantly limits speed in training and rendering. In this work, we propose to directly use signed distance function (SDF) in sparse voxel block grids for fast and accurate scene reconstruction without MLPs. Our globally sparse and locally dense data structure exploits surfaces’ spatial sparsity, enables cache-friendly queries, and allows direct extensions to multi-modal data such as color and semantic labels. To apply this representation to monocular scene reconstruction, we develop a scale optimization algorithm for fast geometric initialization from monocular depth priors. We apply differentiable volume rendering from this initialization to refine details with fast …

Wei Dong, Chris Choy, Charles Loop, Yuke Zhu, Or Litany, Anima Anandkumar

PDF Project Video

Fast Monocular Scene Reconstruction with Global-Sparse Local-Dense Grids

Magic3D: High-Resolution Text-to-3D Content Creation

CVPR 2023

DreamFusion has recently demonstrated the utility of a pre-trained text-to-image diffusion model to optimize Neural Radiance Fields (NeRF), achieving remarkable text-to-3D synthesis results. However, the method has two inherent limitations: (a) extremely slow optimization of NeRF and (b) low-resolution image space supervision on NeRF, leading to low-quality 3D models with a long processing time. In this paper, we address these limitations by utilizing a two-stage optimization framework. First, we obtain a coarse model using a low-resolution diffusion prior and accelerate with a sparse 3D hash grid structure. Using the coarse representation as the initialization, we further optimize a textured 3D mesh model with an efficient differentiable renderer interacting with a high-resolution latent diffusion model. Our method, dubbed Magic3D, can create high quality 3D mesh models in 40 minutes, which is 2x faster than DreamFusion (reportedly taking 1.5 hours on average), while also achieving …

Chen-Hsuan Lin, Jun Gao, Luming Tang, Towaki Takikawa, Xiaohui Zeng, Xun Huang , Karsten Kreis, Sanja Fidler, Ming-Yu Liu, Tsung-Yi Lin

PDF Project

Magic3D: High-Resolution Text-to-3D Content Creation

Neural Fields meet Explicit Geometric Representations for Inverse Rendering of Urban Scenes

CVPR 2023

Reconstruction and intrinsic decomposition of scenes from captured imagery would enable many applications such as relighting and virtual object insertion. Recent NeRF based methods achieve impressive fidelity of 3D reconstruc- tion, but bake the lighting and shadows into the radiance field, while mesh-based methods that facilitate intrinsic de- composition through differentiable rendering have not yet scaled to the complexity and scale of outdoor scenes. We present a novel inverse rendering framework for large urban scenes capable of jointly reconstructing the scene geometry, spatially-varying materials, and HDR lighting from a set of posed RGB images with optional depth. Specifically, we use a neural field to account for the primary rays, and use an explicit mesh (reconstructed from the underlying neural field) for modeling secondary rays that produce higher-order lighting effects such as cast shadows. By faithfully disentan- gling complex geometry and materials from lighting effects, …

Zian Wang, Tianchang Shen, Jun Gao, Shengyu Huang, Jacob Munkberg, Jon Hasselgren, Zan Gojcic, Wenzheng Chen, Sanja Fidler

PDF Project Video

Neural Fields meet Explicit Geometric Representations for Inverse Rendering of Urban Scenes

Neural Kernel Surface Reconstruction

CVPR 2023 (Highlight)

We present a novel method for reconstructing a 3D im- plicit surface from a large-scale, sparse, and noisy point cloud. Our approach builds upon the recently introduced Neural Kernel Fields (NKF) [58] representation. It enjoys similar generalization capabilities to NKF, while simulta- neously addressing its main limitations: (a) We can scale to large scenes through compactly supported kernel func- tions, which enable the use of memory-efficient sparse lin- ear solvers. (b) We are robust to noise, through a gradi- ent fitting solve. (c) We minimize training requirements, enabling us to learn from any dataset of dense oriented points, and even mix training data consisting of objects and scenes at different scales. Our method is capable of recon- structing millions of points in a few seconds, and handling very large scenes in an out-of-core fashion. We achieve state-of-the-art results on reconstruction benchmarks con- sisting of single objects (ShapeNet [5], ABC [33]), indoor scenes …

Jiahui Huang, Zan Gojcic, Matan Atzmon, Or Litany, Sanja Fidler, Francis Williams

PDF Project

NeuralField-LDM: Scene Generation with Hierarchical Latent Diffusion Models

CVPR 2023

Automatically generating high-quality real world 3D scenes is of enormous interest for applications such as virtual reality and robotics simulation. Towards this goal, we introduce NeuralField-LDM, a generative model capable of synthesizing complex 3D environments. We leverage Latent Diffusion Models that have been successfully utilized for efficient high-quality 2D content creation. We first train a scene auto-encoder to express a set of image and pose pairs as a neural field, represented as density and feature voxel grids that can be projected to produce novel views of the scene. To further compress this representation, we train a latent-autoencoder that maps the voxel grids to a set of latent representations. A hierarchical diffusion model is then fit to the latents to complete the scene generation pipeline. We achieve a substantial improvement over existing state-of-the-art scene generation models. Additionally, we show how NeuralField-LDM can be used for a variety of 3D content …

Seung Wook Kim, Bradley Brown, Kangxue Yin, Karsten Kreis, Katja Schwarz, Daiqing Li, Robin Rombach, Antonio Torralba, Sanja Fidler

PDF Project

NeuralField-LDM: Scene Generation with Hierarchical Latent Diffusion Models

Trace and Pace: Controllable Pedestrian Animation via Guided Trajectory Diffusion

CVPR 2023

We introduce a method for generating realistic pedestrian trajectories and full-body animations that can be controlled to meet user-defined goals. We draw on recent advances in guided diffusion modeling to achieve test-time controllability of trajectories, which is normally only associated with rule-based systems. Our guided diffusion model allows users to constrain trajectories through target waypoints, speed, and specified social groups while accounting for the surrounding environment context. This trajectory diffusion model is integrated with a novel physics-based humanoid controller to form a closed-loop, full-body pedestrian animation system capable of placing large crowds in a simulated environment with varying terrains. We further propose utilizing the value function learned during RL training of the animation controller to guide diffusion to produce trajectories better suited for particular scenarios such as collision avoidance and traversing uneven terrain.

Davis Rempe, Zhengyi Luo, Xue Bin Peng, Ye Yuan, Kris Kitani, Karsten Kreis, Sanja Fidler, Or Litany

PDF Project

Trace and Pace: Controllable Pedestrian Animation via Guided Trajectory Diffusion

VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completion

CVPR 2023

Humans can easily imagine the complete 3D geometry of occluded objects and scenes. This appealing ability is vital for recognition and understanding. To enable such capability in AI systems, we propose VoxFormer, a Transformer-based semantic scene completion framework that can output complete 3D volumetric semantics from only 2D images. Our framework adopts a two-stage design where we start from a sparse set of visible and occupied voxel queries from depth estimation, followed by a densification stage that generates dense 3D voxels from the sparse ones. A key idea of this design is that the visual features on 2D images correspond only to the visible scene structures rather than the occluded or empty spaces. Therefore, starting with the featurization and prediction of the visible structures is more reliable. Once we obtain the set of sparse queries, we apply a masked autoencoder design to propagate the information to all the voxels by self-attention. Experiments on SemanticKITTI show …

Yiming Li, Zhiding Yu, Christopher Choy, Chaowei Xiao, Jose M. Alvarez, Sanja Fidler, Chen Feng, Anima Anandkumar

PDF Code

VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completion

Spacetime Representation Learning

ICLR 2023

Much of the data we encounter in the real world can be represented as directed graphs. In this work, we introduce a general family of representations for directed graphs through connected time-oriented Lorentz manifolds, called spacetimes in general relativity. Spacetimes intrinsically contain a causal structure that indicates whether or not there exists a causal or even chronological order between points of the manifold, called events. This chronological order allows us to naturally represent directed edges via imposing the correct ordering when the nodes are embedded as events in the spacetime. Previous work in machine learning only considers embeddings lying on the simplest Lorentz manifold or does not exploit the connection between Lorentzian pre-length spaces and directed graphs. We introduce a well-defined approach to map data onto a general family of spacetimes. We empirically evaluate our framework in the tasks of hierarchy extraction of undirected graphs, directed link …

Marc T. Law, James Lucas

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Mask3D: Mask Transformer for 3D Instance Segmentation

ICRA 2023

Modern 3D semantic instance segmentation approaches predominantly rely on specialized voting mechanisms followed by carefully designed geometric clustering techniques. Building on the successes of recent Transformer-based methods for object detection and image segmentation, we propose the first Transformer-based approach for 3D semantic instance segmentation. We show that we can leverage generic Transformer building blocks to directly predict instance masks from 3D point clouds. In our model called Mask3D each object instance is represented as an instance query. Using Transformer decoders, the instance queries are learned by iteratively attending to point cloud features at multiple scales. Combined with point features, the instance queries directly yield all instance masks in parallel. Mask3D has several advantages over current state-of-the-art approaches, since it neither relies on (1) voting schemes which require hand-selected geometric properties (such as centers) nor (2) geometric …

Jonas Schult, Francis Engelmann, Alexander Hermans, Or Litany, Siyu Tang, Bastian Leibe

PDF Code Project Source Document

Mask3D: Mask Transformer for 3D Instance Segmentation

Omniverse AI Toybox

Interactive 3D Tools as Extensions in NVIDIA Omniverse

NVIDIA is using AI to improve the Content Creation process, giving the power to create virtual worlds to creators everywhere. AI Toybox is a collection of Omniverse extensions showcasing state of the art NVIDIA research aimed at empowering content creators.

Code

Neural Brushstroke Engine: Learning a Latent Style Space of Interactive Drawing Tools

SIGGRAPH Asia (TOG) 2022

Neural Brushstroke Engine (NeuBE) includes a GAN model that learns to mimic many drawing media styles by learning from unlabeled images. The result is a GAN model that can be directly controlled by user strokes, with style code z corresponding to the style of the interactive brush (and not the final image). Together with a patch-based paining engine, NeuBE allows seamless drawing on a canvas of any size – in a wide variety of learned natural and novel AI brush styles. Our model can be trained on only about 200 images of drawing media, is shown to match the training styles well, and generalizes to unseen out-of-distribution styles. This invites novel applications, like text-based retrieval of brushes and matching brushes to existing art to allow interactive painting in that style. Our generator supports user control of stroke color for any brush style and compositing of strokes on clear background. We also support automatic stylization of line drawings.

Masha Shugrina, Chin-Ying Li, Sanja Fidler

PDF Code Project

Neural Brushstroke Engine: Learning a Latent Style Space of Interactive Drawing Tools

GENIE: Higher-Order Denoising Diffusion Solvers

NeurIPS 2022

Denoising diffusion models (DDMs) have emerged as a powerful class of generative models. A forward diffusion process slowly perturbs the data, while a deep model learns to gradually denoise. Synthesis amounts to solving a differential equation (DE) defined by the learnt model. Solving the DE requires slow iterative solvers for high-quality generation. In this work, we propose Higher-Order Denoising Diffusion Solvers (GENIE): Based on truncated Taylor methods, we derive a novel higher-order solver that significantly accelerates synthesis. Our solver relies on higher-order gradients of the perturbed data distribution, that is, higher-order score functions. In practice, only Jacobian-vector products (JVPs) are required and we propose to extract them from the first-order score network via automatic differentiation. We then distill the JVPs into a separate neural network that allows us to efficiently compute the necessary higher-order terms for our novel sampler during synthesis. We only …

Tim Dockhorn, Arash Vahdat, Karsten Kreis

PDF Code Project

GENIE: Higher-Order Denoising Diffusion Solvers

GET3D: A Generative Model of High Quality 3D Textured Shapes Learned from Images

NeurIPS 2022

As several industries are moving towards modeling massive 3D virtual worlds, the need for content creation tools that can scale in terms of the quantity, quality, and diversity of 3D content is becoming evident. In our work, we aim to train performant 3D generative models that synthesize textured meshes which can be directly consumed by 3D rendering engines, thus immediately usable in downstream applications. Prior works on 3D generative modeling either lack geometric details, are limited in the mesh topology they can produce, typically do not support textures, or utilize neural renderers in the synthesis process, which makes their use in common 3D software non-trivial. In this work, we introduce GET3D, a Generative model that directly generates Explicit Textured 3D meshes with complex topology, rich geometric details, and high-fidelity textures. We bridge recent success in the differentiable surface modeling, differentiable rendering as well as 2D Generative Adversarial Networks to …

Jun Gao, Tianchang Shen, Zian Wang, Wenzheng Chen, Kangxue Yin, Daiqing Li, Or Litany, Zan Gojcic, Sanja Fidler

PDF Code Project

GET3D: A Generative Model of High Quality 3D Textured Shapes Learned from Images

LION: Latent Point Diffusion Models for 3D Shape Generation

NeurIPS 2022

Denoising diffusion models (DDMs) have shown promising results in 3D point cloud synthesis. To advance 3D DDMs and make them useful for digital artists, we require (i) high generation quality, (ii) flexibility for manipulation and applications such as conditional synthesis and shape interpolation, and (iii) the ability to output smooth surfaces or meshes. To this end, we introduce the hierarchical Latent Point Diffusion Model (LION) for 3D shape generation. LION is set up as a variational autoencoder (VAE) with a hierarchical latent space that combines a global shape latent representation with a point-structured latent space. For generation, we train two hierarchical DDMs in these latent spaces. The hierarchical VAE approach boosts performance compared to DDMs that operate on point clouds directly, while the point-structured latents are still ideally suited for DDM-based modeling. Experimentally, LION achieves state-of-the-art generation performance on multiple ShapeNet benchmarks. …

Xiaohui Zeng, Arash Vahdat, Francis Williams, Zan Gojcic, Or Litany, Sanja Fidler, Karsten Kreis

PDF Code Project

LION: Latent Point Diffusion Models for 3D Shape Generation

Optimizing data collection for machine learning

NeurIPS 2022

Modern deep learning systems require huge data sets to achieve impressive performance, but there is little guidance on how much or what kind of data to collect. Over-collecting data incurs unnecessary present costs, while under-collecting may incur future costs and delay workflows. We propose a new paradigm for modeling the data collection workflow as a formal optimal data collection problem that allows designers to specify performance targets, collection costs, a time horizon, and penalties for failing to meet the targets. Additionally, this formulation generalizes to tasks requiring multiple data sources, such as labeled and unlabeled data used in semi-supervised learning. To solve our problem, we develop Learn-Optimize-Collect (LOC), which minimizes expected future collection costs. Finally, we numerically compare our framework to the conventional baseline of estimating data requirements by extrapolating from neural scaling laws. We significantly reduce the risks of failing to meet …

Rafid Mahmood, James Lucas, Jose M. Alvarez, Sanja Fidler, Marc T. Law

PDF Project

Optimizing data collection for machine learning

PADL: Language-Directed Physics-Based Character Control

SIGGRAPH Asia 2022

Developing systems that can synthesize natural and life-like motions for simulated characters has long been a focus for computer animation. But in order for these systems to be useful for downstream applications, they need not only produce high-quality motions, but must also provide an accessible and versatile interface through which users can direct a character’s behaviors. Natural language provides a simple-to-use and expressive medium for specifying a user’s intent. Recent breakthroughs in natural language processing (NLP) have demonstrated effective use of language-based interfaces for applications such as image generation and program synthesis. In this work, we present PADL, which leverages recent innovations in NLP in order to take steps towards developing language-directed controllers for physics-based character animation. PADL allows users to issue natural language commands for specifying both high-level tasks and low-level skills that a character should perform. We …

Jordan Juravsky, Yunrong Guo, Sanja Fidler, Xue Bin Peng

PDF Project

PADL: Language-Directed Physics-Based Character Control

XDGAN: Multi-Modal 3D Shape Generation in 2D Space

BMVC 2022

Generative models for 2D images has recently seen tremendous progress in quality, resolution and speed as a result of the efficiency of 2D convolutional architectures. However it is difficult to extend this progress into the 3D domain since most current 3D representations rely on custom network components. This paper addresses a central question: Is it possible to directly leverage 2D image generative models to generate 3D shapes instead? To answer this, we propose XDGAN, an effective and fast method for applying 2D image GAN architectures to the generation of 3D object geometry combined with additional surface attributes, like color textures and normals. Specifically, we propose a novel method to convert 3D shapes into compact 1-channel geometry images and leverage StyleGAN3 and image-to-image translation networks to generate 3D objects in 2D space. The generated geometry images are quick to convert to 3D meshes, enabling real-time 3D object synthesis, visualization and interactive …

Hassan Abu Alhaija, Alara Dirik, André Knörig, Sanja Fidler, Masha Shugrina

PDF Project

XDGAN: Multi-Modal 3D Shape Generation in 2D Space

Kaolin Wisp: A PyTorch Library and Engine for Neural Fields Research

Pytorch Library

NVIDIA Kaolin Wisp is a PyTorch library powered by NVIDIA Kaolin Core to work with neural fields (including NeRFs, NGLOD, instant-ngp and VQAD). NVIDIA Kaolin Wisp aims to provide a set of common utility functions for performing research on neural fields. This includes datasets, image I/O, mesh processing, and ray utility functions. Wisp also comes with building blocks like differentiable renderers and differentiable data structures (like octrees, hash grids, triplanar features) which are useful to build complex neural fields. It also includes debugging visualization tools, interactive rendering and training, logging, and trainer classes.

Towaki Takikawa, Or Perel, Clement Fuji-Tsang, Charles Loop, Joey Litalien, Jonathan Tremblay, Sanja Fidler, Maria Shugrina

Code Project Source Document

Kaolin Wisp: A PyTorch Library and Engine for Neural Fields Research

Language-Grounded Indoor 3D Semantic Segmentation in the Wild

ECCV 2022

Recent advances in 3D semantic segmentation with deep neural networks have shown remarkable success, with rapid performance increase on available datasets. However, current 3D semantic segmentation benchmarks contain only a small number of categories – less than 30 for ScanNet and SemanticKITTI, for instance, which are not enough to reflect the diversity of real environments (e.g., semantic image understanding covers hundreds to thousands of classes). Thus, we propose to study a larger vocabulary for 3D semantic segmentation with a new extended benchmark on ScanNet data with 200 class categories, an order of magnitude more than previously studied. This large number of class categories also induces a large natural class imbalance, both of which are challenging for existing 3D semantic segmentation methods. To learn more robust 3D features in this context, we propose a language-driven pre-training method to encourage learned 3D features that might have limited training examples to …

Dávid Rozenberszki, Or Litany, Angela Dai

PDF Code Project

Language-Grounded Indoor 3D Semantic Segmentation in the Wild

MvDeCor: Multi-view Dense Correspondence Learning for Fine-grained 3D Segmentation

ECCV 2022

We propose to utilize self-supervised techniques in the 2D domain for fine-grained 3D shape segmentation tasks. This is inspired by the observation that view-based surface representations are more effective at modeling high-resolution surface details and texture than their 3D counterparts based on point clouds or voxel occupancy. Specifically, given a 3D shape, we render it from multiple views, and set up a dense correspondence learning task within the contrastive learning framework. As a result, the learned 2D representations are view-invariant and geometrically consistent, leading to better generalization when trained on a limited number of labeled shapes compared to alternatives that utilize self-supervision in 2D or 3D alone. Experiments on textured (RenderPeople) and untextured (PartNet) 3D datasets show that our method outperforms state-of-the-art alternatives in fine-grained part segmentation. The improvements over baselines are greater when only a sparse set of views is …

Gopal Sharma, Kangxue Yin, Subhransu Maji, Evangelos Kalogerakis, Or Litany, Sanja Fidler

PDF Project

MvDeCor: Multi-view Dense Correspondence Learning for Fine-grained 3D Segmentation

Learning Smooth Neural Functions via Lipschitz Regularization

SIGGRAPH 2022

Neural implicit fields have recently emerged as a useful representation for 3D shapes. These fields are commonly represented as neural networks which map latent descriptors and 3D coordinates to implicit function values. The latent descriptor of a neural field acts as a deformation handle for the 3D shape it represents. Thus, smoothness with respect to this descriptor is paramount for performing shape-editing operations. In this work, we introduce a novel regularization designed to encourage smooth latent spaces in neural fields by penalizing the upper bound on the field’s Lipschitz constant. Compared with prior Lipschitz regularized networks, ours is computationally fast, can be implemented in four lines of code, and requires minimal hyperparameter tuning for geometric applications. We demonstrate the effectiveness of our approach on shape interpolation and extrapolation as well as partial shape reconstruction from 3D point clouds, showing both qualitative and quantitative …

Derek Liu, Francis Williams, Alec Jacobson, Sanja Fidler, Or Litany

PDF Project

Learning Smooth Neural Functions via Lipschitz Regularization

ASE: Large-Scale Reusable Adversarial Skill Embeddings for Physically Simulated Characters

SIGGRAPH 2022

The incredible feats of athleticism demonstrated by humans are made possible in part by a vast repertoire of general-purpose motor skills, acquired through years of practice and experience. These skills not only enable humans to perform complex tasks, but also provide powerful priors for guiding their behaviors when learning new tasks. This is in stark contrast to what is common practice in physics-based character animation, where control policies are most typically trained from scratch for each task. In this work, we present a large-scale data-driven framework for learning versatile and reusable skill embeddings for physically simulated characters. Our approach combines techniques from adversarial imitation learning and unsupervised reinforcement learning to develop skill embeddings that produce life-like behaviors, while also providing an easy to control representation for use on new downstream tasks. Our models can be trained using large datasets of unstructured motion clips, …

Xue Bin Peng, Yunrong Guo, Lina Halper, Sergey Levine, Sanja Fidler

PDF Project

ASE: Large-Scale Reusable Adversarial Skill Embeddings for Physically Simulated Characters

Variable Bitrate Neural Fields

SIGGRAPH 2022

Neural approximations of scalar and vector fields, such as signed distance functions and radiance fields, have emerged as accurate, high-quality representations. State-of-the-art results are obtained by conditioning a neural approximation with a lookup from trainable feature grids that take on part of the learning task and allow for smaller, more efficient neural networks. Unfortunately, these feature grids usually come at the cost of significantly increased memory consumption compared to stand-alone neural network models. We present a dictionary method for compressing such feature grids, reducing their memory consumption by up to 100x and permitting a multiresolution representation which can be useful for out-of-core streaming. We formulate the dictionary optimization as a vector-quantized auto-decoder problem which lets us learn end-to-end discrete neural representations in a space where no direct supervision is available and with dynamic topology and structure.

Towaki Takikawa, Alex Evans, Jonathan Tremblay, Thomas Müller, Morgan McGuire, Alec Jacobson, Sanja Fidler

PDF Code Project Video

Polymorphic-GAN: Generating Aligned Samples across Multiple Domains with Learned Morph Maps

CVPR 2022 (Oral)

Modern image generative models show remarkable sample quality when trained on a single domain or class of objects. In this work, we introduce a generative adversarial network that can simultaneously generate aligned image samples from multiple related domains. We leverage the fact that a variety of object classes share common attributes, with certain geometric differences. We propose Polymorphic-GAN which learns shared features across all domains and a per-domain morph layer to morph shared features according to each domain. In contrast to previous works, our framework allows simultaneous modelling of images with highly varying geometries, such as images of human faces, painted and artistic faces, as well as multiple different animal faces. We demonstrate that our model produces aligned samples for all domains and show how it can be used for applications such as segmentation transfer and cross-domain image editing, as well as training in low-data regimes. Additionally, we apply our …

Seung Wook Kim, Karsten Kreis, Daiqing Li, Antonio Torralba, Sanja Fidler

PDF Project

Polymorphic-GAN: Generating Aligned Samples across Multiple Domains with Learned Morph Maps

Extracting Triangular 3D Models, Materials, and Lighting From Images

CVPR 2022 (Oral)

We present an efficient method for joint optimization of topology, materials and lighting from multi-view image observations. Unlike recent multi-view reconstruction approaches, which typically produce entangled 3D representations encoded in neural networks, we output triangle meshes with spatially-varying materials and environment lighting that can be deployed in any traditional graphics engine unmodified. We leverage recent work in differentiable rendering, coordinate-based networks to compactly represent volumetric texturing, alongside differentiable marching tetrahedrons to enable gradient-based optimization directly on the surface mesh. Finally, we introduce a differentiable formulation of the split sum approximation of environment lighting to efficiently recover all-frequency lighting. Experiments show our extracted models used in advanced scene editing, material decomposition, and high quality view interpolation, all running at interactive rates in triangle-based renderers …

Jacob Munkberg, Jon Hasselgren, Tianchang Shen, Jun Gao, Wenzheng Chen, Alex Evans, Thomas Müller, Sanja Fidler

PDF Code Project

Extracting Triangular 3D Models, Materials, and Lighting From Images

AUV-Net: Learning Aligned UV Maps for Texture Transfer and Synthesis

CVPR 2022

In this paper, we address the problem of texture representation for 3D shapes for the challenging and underexplored tasks of texture transfer and synthesis. Previous works either apply spherical texture maps which may lead to large distortions, or use continuous texture fields that yield smooth outputs lacking details. We argue that the traditional way of representing textures with images and linking them to a 3D mesh via UV mapping is more desirable, since synthesizing 2D images is a well-studied problem. We propose AUV-Net which learns to embed 3D surfaces into a 2D aligned UV space, by mapping the corresponding semantic parts of different 3D shapes to the same location in the UV space. As a result, textures are aligned across objects, and can thus be easily synthesized by generative models of images. Texture alignment is learned in an unsupervised manner by a simple yet effective texture alignment module, taking inspiration from traditional works on linear subspace learning. The …

Zhiqin Chen, Kangxue Yin, Sanja Fidler

PDF Code Project

AUV-Net: Learning Aligned UV Maps for Texture Transfer and Synthesis

BigDatasetGAN: Synthesizing ImageNet with Pixel-wise Annotations

CVPR 2022

Annotating images with pixel-wise labels is a time-consuming and costly process. Recently, DatasetGAN showcased a promising alternative - to synthesize a large labeled dataset via a generative adversarial network (GAN) by exploiting a small set of manually labeled, GAN-generated images. Here, we scale DatasetGAN to ImageNet scale of class diversity. We take image samples from the class-conditional generative model BigGAN trained on ImageNet, and manually annotate 5 images per class, for all 1k classes. By training an effective feature segmentation architecture on top of BigGAN, we turn BigGAN into a labeled dataset generator. We further show that VQGAN can similarly serve as a dataset generator, leveraging the already annotated data. We create a new ImageNet benchmark by labeling an additional set of 8k real images and evaluate segmentation performance in a variety of settings. Through an extensive ablation study we show big gains in leveraging a large generated dataset to train …

Daiqing Li, Huan Ling, Seung Wook Kim, Karsten Kreis, Adela Barriuso, Sanja Fidler, Antonio Torralba

PDF Code Project

BigDatasetGAN: Synthesizing ImageNet with Pixel-wise Annotations

Frame Averaging for Equivariant Shape Space Learning

CVPR 2022

The task of shape space learning involves mapping a train set of shapes to and from a latent representation space with good generalization properties. Often, real-world collections of shapes have symmetries, which can be defined as transformations that do not change the essence of the shape. A natural way to incorporate symmetries in shape space learning is to ask that the mapping to the shape space (encoder) and mapping from the shape space (decoder) are equivariant to the relevant symmetries. In this paper, we present a framework for incorporating equivariance in encoders and decoders by introducing two contributions: (i) adapting the recent Frame Averaging (FA) framework for building generic, efficient, and maximally expressive Equivariant autoencoders; and (ii) constructing autoencoders equivariant to piecewise Euclidean motions applied to different parts of the shape. To the best of our knowledge, this is the first fully piecewise Euclidean equivariant autoencoder construction. …

Matan Atzmon, Koki Nagano, Sanja Fidler, Sameh Khamis, Yaron Lipman

PDF Project

Frame Averaging for Equivariant Shape Space Learning

Generating Useful Accident-Prone Driving Scenarios via a Learned Traffic Prior

CVPR 2022

Evaluating and improving planning for autonomous vehicles requires scalable generation of long-tail traffic scenarios. To be useful, these scenarios must be realistic and challenging, but not impossible to drive through safely. In this work, we introduce STRIVE, a method to automatically generate challenging scenarios that cause a given planner to produce undesirable behavior, like collisions. To maintain scenario plausibility, the key idea is to leverage a learned model of traffic motion in the form of a graph-based conditional VAE. Scenario generation is formulated as an optimization in the latent space of this traffic model, perturbing an initial real-world scene to produce trajectories that collide with a given planner. A subsequent optimization is used to find a solution to the scenario, ensuring it is useful to improve the given planner. Further analysis clusters generated scenarios based on collision type. We attack two planners and show that STRIVE successfully generates …

Davis Rempe, Jonah Philion, Leonidas Guibas, Sanja Fidler, Or Litany

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Generating Useful Accident-Prone Driving Scenarios via a Learned Traffic Prior

How Much More Data Do I Need? Estimating Requirements for Downstream Tasks

CVPR 2022

Given a small training data set and a learning algorithm, how much more data is necessary to reach a target validation or test performance? This question is of critical importance in applications such as autonomous driving or medical imaging where collecting data is expensive and time-consuming. Overestimating or underestimating data requirements incurs substantial costs that could be avoided with an adequate budget. Prior work on neural scaling laws suggest that the power-law function can fit the validation performance curve and extrapolate it to larger data set sizes. We find that this does not immediately translate to the more difficult downstream task of estimating the required data set size to meet a target performance. In this work, we consider a broad class of computer vision tasks and systematically investigate a family of functions that generalize the power-law function to allow for better estimation of data requirements. Finally, we show that incorporating a tuned correction …

Rafid Mahmood, James Lucas, David Acuna, Daiqing Li, Jonah Philion, Jose M. Alvarez, Zhiding Yu, Sanja Fidler, Marc T. Law

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How Much More Data Do I Need? Estimating Requirements for Downstream Tasks

Neural Fields as Learnable Kernels for 3D Reconstruction

CVPR 2022

We present Neural Kernel Fields: a novel method for reconstructing implicit 3D shapes based on a learned kernel ridge regression. Our technique achieves state-of-the-art results when reconstructing 3D objects and large scenes from sparse oriented points, and can reconstruct shape categories outside the training set with almost no drop in accuracy. The core insight of our approach is that kernel methods are extremely effective for reconstructing shapes when the chosen kernel has an appropriate inductive bias. We thus factor the problem of shape reconstruction into two parts: (1) a backbone neural network which learns kernel parameters from data, and (2) a kernel ridge regression that fits the input points on-the-fly by solving a simple positive definite linear system using the learned kernel. As a result of this factorization, our reconstruction gains the benefits of data-driven methods under sparse point density while maintaining interpolatory behavior, which converges to the ground …

Francis Williams, Zan Gojcic, Sameh Khamis, Denis Zorin, Joan Bruna, Sanja Fidler, Or Litany

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Neural Fields as Learnable Kernels for 3D Reconstruction

Score-Based Generative Modeling with Critically-Damped Langevin Diffusion

ICLR 2022 (Spotlight)

Score-based generative models (SGMs) have demonstrated remarkable synthesis quality. SGMs rely on a diffusion process that gradually perturbs the data towards a tractable distribution, while the generative model learns to denoise. The complexity of this denoising task is, apart from the data distribution itself, uniquely determined by the diffusion process. We argue that current SGMs employ overly simplistic diffusions, leading to unnecessarily complex denoising processes, which limit generative modeling performance. Based on connections to statistical mechanics, we propose a novel critically-damped Langevin diffusion (CLD) and show that CLD-based SGMs achieve superior performance. CLD can be interpreted as running a joint diffusion in an extended space, where the auxiliary variables can be considered ‘velocities’ that are coupled to the data variables as in Hamiltonian dynamics. We derive a novel score matching objective for CLD and show that the model only needs to learn …

Tim Dockhorn, Arash Vahdat, Karsten Kreis

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Score-Based Generative Modeling with Critically-Damped Langevin Diffusion

Tackling the Generative Learning Trilemma with Denoising Diffusion GANs

ICLR 2022 (Spotlight)

A wide variety of deep generative models has been developed in the past decade. Yet, these models often struggle with simultaneously addressing three key requirements including: high sample quality, mode coverage, and fast sampling. We call the challenge imposed by these requirements the generative learning trilemma, as the existing models often trade some of them for others. Particularly, denoising diffusion models have shown impressive sample quality and diversity, but their expensive sampling does not yet allow them to be applied in many real-world applications. In this paper, we argue that slow sampling in these models is fundamentally attributed to the Gaussian assumption in the denoising step which is justified only for small step sizes. To enable denoising with large steps, and hence, to reduce the total number of denoising steps, we propose to model the denoising distribution using a complex multimodal distribution. We introduce denoising diffusion generative adversarial …

Zhisheng Xiao, Karsten Kreis, Arash Vahdat

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Tackling the Generative Learning Trilemma with Denoising Diffusion GANs

Domain Adversarial Training: A Game Perspective

ICLR 2022

The dominant line of work in domain adaptation has focused on learning invariant representations using domain-adversarial training. In this paper, we interpret this approach from a game theoretical perspective. Defining optimal solutions in domain-adversarial training as a local Nash equilibrium, we show that gradient descent in domain-adversarial training can violate the asymptotic convergence guarantees of the optimizer, oftentimes hindering the transfer performance. Our analysis leads us to replace gradient descent with high-order ODE solvers (i.e., Runge–Kutta), for which we derive asymptotic convergence guarantees. This family of optimizers is significantly more stable and allows more aggressive learning rates, leading to high performance gains when used as a drop-in replacement over standard optimizers. Our experiments show that in conjunction with state-of-the-art domain-adversarial methods, we achieve up to 3.5% improvement with less than of half training iterations. Our …

David Acuna, Marc T. Law, Guojun Zhang, Sanja Fidler

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Domain Adversarial Training: A Game Perspective

Low-Budget Active Learning via Wasserstein Distance: An Integer Programming Approach

ICLR 2022

Active learning is the process of training a model with limited labeled data by selecting a core subset of an unlabeled data pool to label. The large scale of data sets used in deep learning forces most sample selection strategies to employ efficient heuristics. This paper introduces an integer optimization problem for selecting a core set that minimizes the discrete Wasserstein distance from the unlabeled pool. We demonstrate that this problem can be tractably solved with a Generalized Benders Decomposition algorithm. Our strategy uses high-quality latent features that can be obtained by unsupervised learning on the unlabeled pool. Numerical results on several data sets show that our optimization approach is competitive with baselines and particularly outperforms them in the low budget regime where less than one percent of the data set is labeled.

Rafid Mahmood, Sanja Fidler, Marc T. Law

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Low-Budget Active Learning via Wasserstein Distance: An Integer Programming Approach

Spectral Unions of Partial Deformable 3D Shapes

Eurographics 2022

Spectral geometric methods have brought revolutionary changes to the field of geometry processing – however, when the data to be processed exhibits severe partiality, such methods fail to generalize. As a result, there exists a big performance gap between methods dealing with complete shapes, and methods that address missing geometry. In this paper, we propose a possible way to fill this gap. We introduce the first method to compute compositions of non-rigidly deforming shapes, without requiring to solve first for a dense correspondence between the given partial shapes. We do so by operating in a purely spectral domain, where we define a union operation between short sequences of eigenvalues. Working with eigenvalues allows to deal with unknown correspondence, different sampling, and different discretization (point clouds and meshes alike), making this operation especially robust and general. Our approach is data-driven, and can generalize to isometric and non-isometric …

Luca Moschella, Simone Melzi, Luca Cosmo, Filippo Maggioli, Or Litany, Maks Ovsjanikov, Leonidas Guibas, Emanuele Rodolà

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Spectral Unions of Partial Deformable 3D Shapes

Contrast to Divide: Self-Supervised Pre-Training for Learning with Noisy Labels

WACV 2022

The success of learning with noisy labels (LNL) methods relies heavily on the success of a warm-up stage where standard supervised training is performed using the full (noisy) training set. In this paper, we identify a warm-up obstacle: the inability of standard warm-up stages to train high quality feature extractors and avert memorization of noisy labels. We propose Contrast to Divide (C2D), a simple framework that solves this problem by pre-training the feature extractor in a self-supervised fashion. Using self-supervised pre-training boosts the performance of existing LNL approaches by drastically reducing the warm-up stage’s susceptibility to noise level, shortening its duration, and improving extracted feature quality. C2D works out of the box with existing methods and demonstrates markedly improved performance, especially in the high noise regime, where we get a boost of more than 27% for CIFAR-100 with 90% noise over the previous state of the art. In real-life noise …

Evgenii Zheltonozhskii, Chaim Baskin, Avi Mendelson, Alex M. Bronstein, Or Litany

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Contrast to Divide: Self-Supervised Pre-Training for Learning with Noisy Labels

ATISS: Autoregressive Transformers for Indoor Scene Synthesis

NeurIPS 2021

The ability to synthesize realistic and diverse indoor furniture layouts automatically or based on partial input, unlocks many applications, from better interactive 3D tools to data synthesis for training and simulation. In this paper, we present ATISS, a novel autoregressive transformer architecture for creating diverse and plausible synthetic indoor environments, given only the room type and its floor plan. In contrast to prior work, which poses scene synthesis as sequence generation, our model generates rooms as unordered sets of objects. We argue that this formulation is more natural, as it makes ATISS generally useful beyond fully automatic room layout synthesis. For example, the same trained model can be used in interactive applications for general scene completion, partial room re-arrangement with any objects specified by the user, as well as object suggestions for any partial room. To enable this, our model leverages the permutation equivariance of the transformer when …

Despoina Paschalidou, Amlan Kar, Maria Shugrina, Karsten Kreis, Andreas Geiger, Sanja Fidler

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ATISS: Autoregressive Transformers for Indoor Scene Synthesis

Deep Marching Tetrahedra: a Hybrid Representation for High-Resolution 3D Shape Synthesis

NeurIPS 2021

We introduce DMTet, a deep 3D conditional generative model that can synthesize high-resolution 3D shapes using simple user guides such as coarse voxels. It marries the merits of implicit and explicit 3D representations by leveraging a novel hybrid 3D representation. Compared to the current implicit approaches, which are trained to regress the signed distance values, DMTet directly optimizes for the reconstructed surface, which enables us to synthesize finer geometric details with fewer artifacts. Unlike deep 3D generative models that directly generate explicit representations such as meshes, our model can synthesize shapes with arbitrary topology. The core of DMTet includes a deformable tetrahedral grid that encodes a discretized signed distance function and a differentiable marching tetrahedra layer that converts the implicit signed distance representation to the explicit surface mesh representation. This combination allows joint optimization of the surface geometry and topology as …

Tianchang Shen, Jun Gao, Kangxue Yin, Ming-Yu Liu, Sanja Fidler

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Deep Marching Tetrahedra: a Hybrid Representation for High-Resolution 3D Shape Synthesis

Score-based Generative Modeling in Latent Space

NeurIPS 2021

Score-based generative models (SGMs) have recently demonstrated impressive results in terms of both sample quality and distribution coverage. However, they are usually applied directly in data space and often require thousands of network evaluations for sampling. Here, we propose the Latent Score-based Generative Model (LSGM), a novel approach that trains SGMs in a latent space, relying on the variational autoencoder framework. Moving from data to latent space allows us to train more expressive generative models, apply SGMs to non-continuous data, and learn smoother SGMs in a smaller space, resulting in fewer network evaluations and faster sampling. To enable training LSGMs end-to-end in a scalable and stable manner, we (i) introduce a new score-matching objective suitable to the LSGM setting, (ii) propose a novel parameterization of the score function that allows SGM to focus on the mismatch of the target distribution with respect to a simple Normal one, and (iii) analytically derive …

Arash Vahdat, Karsten Kreis, Jan Kautz

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Score-based Generative Modeling in Latent Space

Towards Optimal Strategies for Training Self-Driving Perception Models in Simulation

NeurIPS 2021

Autonomous driving relies on a huge volume of real-world data to be labeled to high precision. Alternative solutions seek to exploit driving simulators that can generate large amounts of labeled data with a plethora of content variations. However, the domain gap between the synthetic and real data remains, raising the following important question: What are the best ways to utilize a self-driving simulator for perception tasks? In this work, we build on top of recent advances in domain-adaptation theory, and from this perspective, propose ways to minimize the reality gap. We primarily focus on the use of labels in the synthetic domain alone. Our approach introduces both a principled way to learn neural-invariant representations and a theoretically inspired view on how to sample the data from the simulator. Our method is easy to implement in practice as it is agnostic of the network architecture and the choice of the simulator. We showcase our approach on the bird’s-eye-view …

David Acuna, Jonah Philion, Sanja Fidler

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Towards Optimal Strategies for Training Self-Driving Perception Models in Simulation

Ultrahyperbolic Neural Networks

NeurIPS 2021 (Spotlight)

Riemannian space forms, such as the Euclidean space, sphere and hyperbolic space, are popular and powerful representation spaces in machine learning. For instance, hyperbolic geometry is appropriate to represent graphs without cycles and has been used to extend Graph Neural Networks. Recently, some pseudo-Riemannian space forms that generalize both hyperbolic and spherical geometries have been exploited to learn a specific type of nonparametric embedding called ultrahyperbolic. The lack of geodesic between every pair of ultrahyperbolic points makes the task of learning parametric models (e.g., neural networks) difficult. This paper introduces a method to learn parametric models in ultrahyperbolic space. We experimentally show the relevance of our approach in the tasks of graph and node classification.

Marc T. Law

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DIB-R++: Learning to Predict Lighting and Material with a Hybrid Differentiable Renderer

NeurIPS 2021

We consider the challenging problem of predicting intrinsic object properties from a single image by exploiting differentiable renderers. Many previous learning-based approaches for inverse graphics adopt rasterization-based renderers and assume naive lighting and material models, which often fail to account for non-Lambertian, specular reflections commonly observed in the wild. In this work, we propose DIBR++, a hybrid differentiable renderer which supports these photorealistic effects by combining rasterization and ray-tracing, taking the advantage of their respective strengths – speed and realism. Our renderer incorporates environmental lighting and spatially-varying material models to efficiently approximate light transport, either through direct estimation or via spherical basis functions. Compared to more advanced physics-based differentiable renderers leveraging path tracing, DIBR++ is highly performant due to its compact and expressive shading model, which enables easy …

Wenzheng Chen, Joey Litalien, Jun Gao, Zian Wang, Clement Fuji-Tsang, Sameh Khamis, Or Litany, Sanja Fidler

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DIB-R++: Learning to Predict Lighting and Material with a Hybrid Differentiable Renderer

Don't Generate Me: Training Differentially Private Generative Models with Sinkhorn Divergence

NeurIPS 2021

Although machine learning models trained on massive data have led to breakthroughs in several areas, their deployment in privacy-sensitive domains remains limited due to restricted access to data. Generative models trained with privacy constraints on private data can sidestep this challenge, providing indirect access to private data instead. We propose DP-Sinkhorn, a novel optimal transport-based generative method for learning data distributions from private data with differential privacy. DP-Sinkhorn minimizes the Sinkhorn divergence, a computationally efficient approximation to the exact optimal transport distance, between the model and data in a differentially private manner and uses a novel technique for controlling the bias-variance trade-off of gradient estimates. Unlike existing approaches for training differentially private generative models, which are mostly based on generative adversarial networks, we do not rely on adversarial objectives, which are notoriously difficult to …

Tianshi Cao, Alex Bie, Arash Vahdat, Sanja Fidler, Karsten Kreis

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Don't Generate Me: Training Differentially Private Generative Models with Sinkhorn Divergence

EditGAN: High-Precision Semantic Image Editing

NeurIPS 2021

Generative adversarial networks (GANs) have recently found applications in image editing. However, most GAN based image editing methods often require large scale datasets with semantic segmentation annotations for training, only provide high level control, or merely interpolate between different images. Here, we propose EditGAN, a novel method for high quality, high precision semantic image editing, allowing users to edit images by modifying their highly detailed part segmentation masks, e.g., drawing a new mask for the headlight of a car. EditGAN builds on a GAN framework that jointly models images and their semantic segmentations, requiring only a handful of labeled examples, making it a scalable tool for editing. Specifically, we embed an image into the GAN latent space and perform conditional latent code optimization according to the segmentation edit, which effectively also modifies the image. To amortize optimization, we find editing vectors in latent space that realize the …

Huan Ling, Karsten Kreis, Daiqing Li, Seung Wook Kim, Antonio Torralba, Sanja Fidler

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EditGAN: High-Precision Semantic Image Editing

Mix3D: Out-of-Context Data Augmentation for 3D Scenes

3DV 2021 (Oral)

We present Mix3D, a data augmentation technique for segmenting large-scale 3D scenes. Since scene context helps reasoning about object semantics, current works focus on models with large capacity and receptive fields that can fully capture the global context of an input 3D scene. However, strong contextual priors can have detrimental implications like mistaking a pedestrian crossing the street for a car. In this work, we focus on the importance of balancing global scene context and local geometry, with the goal of generalizing beyond the contextual priors in the training set. In particular, we propose a mixing technique which creates new training samples by combining two augmented scenes. By doing so, object instances are implicitly placed into novel out-of-context environments and therefore making it harder for models to rely on scene context alone, and instead infer semantics from local structure as well. We perform detailed analysis to understand the importance of global context, …

Alexey Nekrasov, Jonas Schult, Or Litany, Bastian Leibe, Francis Engelmann

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Mix3D: Out-of-Context Data Augmentation for 3D Scenes

Learning Indoor Inverse Rendering with 3D Spatially-Varying Lighting

ICCV 2021 (Oral)

In this work, we address the problem of jointly estimating albedo, normals, depth and 3D spatially-varying lighting from a single image. Most existing methods formulate the task as image-to-image translation, ignoring the 3D properties of the scene. However, indoor scenes contain complex 3D light transport where a 2D representation is insufficient. In this paper, we propose a unified, learning-based inverse rendering framework that formulates 3D spatially-varying lighting. Inspired by classic volume rendering techniques, we propose a novel Volumetric Spherical Gaussian representation for lighting, which parameterizes the exitant radiance of the 3D scene surfaces on a voxel grid. We design a physics based differentiable renderer that utilizes our 3D lighting representation, and formulates the energy-conserving image formation process that enables joint training of all intrinsic properties with the re-rendering constraint. Our model ensures physically correct predictions and avoids the …

Zian Wang, Jonah Philion, Sanja Fidler, Jan Kautz

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Learning Indoor Inverse Rendering with 3D Spatially-Varying Lighting

3DStyleNet: Creating 3D Shapes with Geometric and Texture Style Variations

ICCV 2021 (Oral)

We propose a method to create plausible geometric and texture style variations of 3D objects in the quest to democratize 3D content creation. Given a pair of textured source and target objects, our method predicts a part-aware affine transformation field that naturally warps the source shape to imitate the overall geometric style of the target. In addition, the texture style of the target is transferred to the warped source object with the help of a multi-view differentiable renderer. Our model, 3DStyleNet, is composed of two sub-networks trained in two stages. First, the geometric style network is trained on a large set of untextured 3D shapes. Second, we jointly optimize our geometric style network and a pre-trained image style transfer network with losses defined over both the geometry and the rendering of the result. Given a small set of high-quality textured objects, our method can create many novel stylized shapes, resulting in effortless 3D content creation and style-ware data …

Kangxue Yin, Jun Gao, Maria Shugrina, Sameh Khamis, Sanja Fidler

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3DStyleNet: Creating 3D Shapes with Geometric and Texture Style Variations

Vector Neurons: A General Framework for SO(3)-Equivariant Networks

ICCV 2021 (Oral)

Invariance and equivariance to the rotation group have been widely discussed in the 3D deep learning community for pointclouds. Yet most proposed methods either use complex mathematical tools that may limit their accessibility, or are tied to specific input data types and network architectures. In this paper, we introduce a general framework built on top of what we call Vector Neuron representations for creating SO(3)-equivariant neural networks for pointcloud processing. Extending neurons from 1D scalars to 3D vectors, our vector neurons enable a simple mapping of SO(3) actions to latent spaces thereby providing a framework for building equivariance in common neural operations – including linear layers, non-linearities, pooling, and normalizations. Due to their simplicity, vector neurons are versatile and, as we demonstrate, can be incorporated into diverse network architecture backbones, allowing them to process geometry inputs in arbitrary poses. Despite its simplicity, our …

Congyue Deng, Or Litany, Yueqi Duan, Adrien Poulenard, Andrea Tagliasacchi, Leonidas Guibas

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Vector Neurons: A General Framework for SO(3)-Equivariant Networks

Physics-based Human Motion Estimation and Synthesis from Videos

ICCV 2021

Human motion synthesis is an important problem with applications in graphics, gaming and simulation environments for robotics. Existing methods require accurate motion capture data for training, which is costly to obtain. Instead, we propose a framework for training generative models of physically plausible human motion directly from monocular RGB videos, which are much more widely available. At the core of our method is a novel optimization formulation that corrects imperfect image-based pose estimations by enforcing physics constraints and reasons about contacts in a differentiable way. This optimization yields corrected 3D poses and motions, as well as their corresponding contact forces. Results show that our physically-corrected motions significantly outperform prior work on pose estimation. We can then use these to train a generative model to synthesize future motion. Samples from the generative model can optionally be further refined with the same physics correction optimization. …

Kevin Xie, Tingwu Wang, Umar Iqbal, Yunrong Guo, Sanja Fidler, Florian Shkurti

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Physics-based Human Motion Estimation and Synthesis from Videos

Self-Supervised Real-to-Sim Scene Generation

ICCV 2021

Synthetic data is emerging as a promising solution to the scalability issue of supervised deep learning, especially when real data are difficult to acquire or hard to annotate. Synthetic data generation, however, can itself be prohibitively expensive when domain experts have to manually and painstakingly oversee the process. Moreover, neural networks trained on synthetic data often do not perform well on real data because of the domain gap. To solve these challenges, we propose Sim2SG, a self-supervised automatic scene generation technique for matching the distribution of real data. Importantly, Sim2SG does not require supervision from the real-world dataset, thus making it applicable in situations for which such annotations are difficult to obtain. Sim2SG is designed to bridge both the content and appearance gaps, by matching the content of real data, and by matching the features in the source and target domains. We select scene graph (SG) generation as the downstream task, due to the …

Aayush Prakash, Shoubhik Debnath, Jean-Francois Lafleche, Eric Cameracci, Gavriel State, Stan Birchfield, Marc T. Law

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Self-Supervised Real-to-Sim Scene Generation

f-Domain-Adversarial Learning: Theory and Algorithms

ICML 2021

Unsupervised domain adaptation is used in many machine learning applications where, during training, a model has access to unlabeled data in the target domain, and a related labeled dataset. In this paper, we introduce a novel and general domain-adversarial framework. Specifically, we derive a novel generalization bound for domain adaptation that exploits a new measure of discrepancy between distributions based on a variational characterization of f-divergences. It recovers the theoretical results from Ben-David et al. (2010a) as a special case and supports divergences used in practice. Based on this bound, we derive a new algorithmic framework that introduces a key correction in the original adversarial training method of Ganin et al. (2016). We show that many regularizers and ad-hoc objectives introduced over the last years in this framework are then not required to achieve performance comparable to (if not better than) state-of-the-art domain-adversarial methods. Experimental …

David Acuna, Guojun Zhang, Marc T. Law, Sanja Fidler

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f-Domain-Adversarial Learning: Theory and Algorithms

Image-Level or Object-Level? A Tale of Two Resampling Strategies for Long-Tailed Detection

ICML 2021

Training on datasets with long-tailed distributions has been challenging for major recognition tasks such as classification and detection. To deal with this challenge, image resampling is typically introduced as a simple but effective approach. However, we observe that long-tailed detection differs from classification since multiple classes may be present in one image. As a result, image resampling alone is not enough to yield a sufficiently balanced distribution at the object level. We address object-level resampling by introducing an object-centric memory replay strategy based on dynamic, episodic memory banks. Our proposed strategy has two benefits: 1) convenient object-level resampling without significant extra computation, and 2) implicit feature-level augmentation from model updates. We show that image-level and object-level resamplings are both important, and thus unify them with a joint resampling strategy (RIO). Our method outperforms state-of-the-art long-tailed detection and …

Nadine Chang, Zhiding Yu, Yu-Xiong Wang, Anima Anandkumar, Sanja Fidler, Jose M. Alvarez

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DatasetGAN: Efficient Labeled Data Factory with Minimal Human Effort

CVPR 2021 (Oral)

We introduce DatasetGAN: an automatic procedure to generate massive datasets of high-quality semantically segmented images requiring minimal human effort. Current deep networks are extremely data-hungry, benefiting from training on large-scale datasets, which are time consuming to annotate. Our method relies on the power of recent GANs to generate realistic images. We show how the GAN latent code can be decoded to produce a semantic segmentation of the image. Training the decoder only needs a few labeled examples to generalize to the rest of the latent space, resulting in an infinite annotated dataset generator! These generated datasets can then be used for training any computer vision architecture just as real datasets are. As only a few images need to be manually segmented, it becomes possible to annotate images in extreme detail and generate datasets with rich object and part segmentations. To showcase the power of our approach, we generated datasets for 7 image segmentation tasks …

Yuxuan Zhang, Huan Ling, Jun Gao, Kangxue Yin, Jean-Francois Lafleche, Adela Barriuso, Antonio Torralba, Sanja Fidler

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DatasetGAN: Efficient Labeled Data Factory with Minimal Human Effort

DriveGAN: Towards a Controllable High-Quality Neural Simulation

CVPR 2021 (Oral)

Realistic simulators are critical for training and verifying robotics systems. While most of the contemporary simulators are hand-crafted, a scaleable way to build simulators is to use machine learning to learn how the environment behaves in response to an action, directly from data. In this work, we aim to learn to simulate a dynamic environment directly in pixel-space, by watching unannotated sequences of frames and their associated action pairs. We introduce a novel high-quality neural simulator referred to as DriveGAN that achieves controllability by disentangling different components without supervision. In addition to steering controls, it also includes controls for sampling features of a scene, such as the weather as well as the location of non-player objects. Since DriveGAN is a fully differentiable simulator, it further allows for re-simulation of a given video sequence, offering an agent to drive through a recorded scene again, possibly taking different actions. We train …

Seung Wook Kim, Jonah Philion, Antonio Torralba, Sanja Fidler

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DriveGAN: Towards a Controllable High-Quality Neural Simulation

Neural Geometric Level of Detail: Real-time Rendering with Implicit 3D Surfaces

CVPR 2021 (Oral)

Neural signed distance functions (SDFs) are emerging as an effective representation for 3D shapes. State-of-the-art methods typically encode the SDF with a large, fixed-size neural network to approximate complex shapes with implicit surfaces. Rendering with these large networks is, however, computationally expensive since it requires many forward passes through the network for every pixel, making these representations impractical for real-time graphics. We introduce an efficient neural representation that, for the first time, enables real-time rendering of high-fidelity neural SDFs, while achieving state-of-the-art geometry reconstruction quality. We represent implicit surfaces using an octree-based feature volume which adaptively fits shapes with multiple discrete levels of detail (LODs), and enables continuous LOD with SDF interpolation. We further develop an efficient algorithm to directly render our novel neural SDF representation in real-time by querying only the necessary LODs …

Towaki Takikawa, Joey Litalien, Kangxue Yin, Karsten Kreis, Charles Loop, Derek Nowrouzezahrai, Alec Jacobson, Morgan McGuire, Sanja Fidler

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Neural Geometric Level of Detail: Real-time Rendering with Implicit 3D Surfaces

Weakly Supervised Learning of Rigid 3D Scene Flow

CVPR 2021 (Oral)

We propose a data-driven scene flow estimation algorithm exploiting the observation that many 3D scenes can be explained by a collection of agents moving as rigid bodies. At the core of our method lies a deep architecture able to reason at the extbf{object-level} by considering 3D scene flow in conjunction with other 3D tasks. This object level abstraction, enables us to relax the requirement for dense scene flow supervision with simpler binary background segmentation mask and ego-motion annotations. Our mild supervision requirements make our method well suited for recently released massive data collections for autonomous driving, which do not contain dense scene flow annotations. As output, our model provides low-level cues like pointwise flow and higher-level cues such as holistic scene understanding at the level of rigid objects. We further propose a test-time optimization refining the predicted rigid scene flow. We showcase the effectiveness and generalization capacity of our …

Zan Gojcic, Or Litany, Andreas Wieser, Leonidas J Guibas, Tolga Birdal

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Weakly Supervised Learning of Rigid 3D Scene Flow

Semantic Segmentation with Generative Models: Semi-Supervised Learning and Strong Out-of-Domain Generalization

CVPR 2021

Training deep networks with limited labeled data while achieving a strong generalization ability is key in the quest to reduce human annotation efforts. This is the goal of semisupervised learning, which exploits more widely available unlabeled data to complement small labeled data sets. In this paper, we propose a novel framework for discriminative pixel-level tasks using a generative model of both images and labels. Concretely, we learn a generative adversarial network that captures the joint image-label distribution and is trained efficiently using a large set of unlabeled images supplemented with only few labeled ones. We build our architecture on top of StyleGAN2, augmented with a label synthesis branch. Image labeling at test time is achieved by first embedding the target image into the joint latent space via an encoder network and test-time optimization, and then generating the label from the inferred embedding. We evaluate our approach in two important domains: medical image …

Daiqing Li, Junlin Yang, Karsten Kreis, Antonio Torralba, Sanja Fidler

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Semantic Segmentation with Generative Models: Semi-Supervised Learning and Strong Out-of-Domain Generalization

3DIoUMatch: Leveraging IoU Prediction for Semi-Supervised 3D Object Detection

CVPR 2021

3D object detection is an important yet demanding task that heavily relies on difficult to obtain 3D annotations. To reduce the required amount of supervision, we propose 3DIoUMatch, a novel semi-supervised method for 3D object detection applicable to both indoor and outdoor scenes. We leverage a teacher-student mutual learning framework to propagate information from the labeled to the unlabeled train set in the form of pseudo-labels. However, due to the high task complexity, we observe that the pseudo-labels suffer from significant noise and are thus not directly usable. To that end, we introduce a confidence-based filtering mechanism, inspired by FixMatch. We set confidence thresholds based upon the predicted objectness and class probability to filter low-quality pseudo-labels. While effective, we observe that these two measures do not sufficiently capture localization quality. We therefore propose to use the estimated 3D IoU as a localization metric and set category-aware …

He Wang, Yezhen Cong, Or Litany, Yue Gao, Leonidas J. Guibas

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3DIoUMatch: Leveraging IoU Prediction for Semi-Supervised 3D Object Detection

Image GANs meet Differentiable Rendering for Inverse Graphics and Interpretable 3D Neural Rendering

ICLR 2021 (Oral)

Differentiable rendering has paved the way to training neural networks to perform ‘inverse graphics’ tasks such as predicting 3D geometry from monocular photographs. To train high performing models, most of the current approaches rely on multi-view imagery which are not readily available in practice. Recent Generative Adversarial Networks (GANs) that synthesize images, in contrast, seem to acquire 3D knowledge implicitly during training: object viewpoints can be manipulated by simply manipulating the latent codes. However, these latent codes often lack further physical interpretation and thus GANs cannot easily be inverted to perform explicit 3D reasoning. In this paper, we aim to extract and disentangle 3D knowledge learned by generative models by utilizing differentiable renderers. Key to our approach is to exploit GANs as a multi-view data generator to train an inverse graphics network using an off-the-shelf differentiable renderer, and the trained inverse graphics …

Yuxuan Zhang, Wenzheng Chen, Huan Ling, Jun Gao, Yinan Zhang, Antonio Torralba, Sanja Fidler

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Image GANs meet Differentiable Rendering for Inverse Graphics and Interpretable 3D Neural Rendering

VAEBM: A Symbiosis between Variational Autoencoders and Energy-based Models

ICLR 2021 (Spotlight)

Energy-based models (EBMs) have recently been successful in representing complex distributions of small images. However, sampling from them requires expensive Markov chain Monte Carlo (MCMC) iterations that mix slowly in high dimensional pixel space. Unlike EBMs, variational autoencoders (VAEs) generate samples quickly and are equipped with a latent space that enables fast traversal of the data manifold. However, VAEs tend to assign high probability density to regions in data space outside the actual data distribution and often fail at generating sharp images. In this paper, we propose VAEBM, a symbiotic composition of a VAE and an EBM that offers the best of both worlds. VAEBM captures the overall mode structure of the data distribution using a state-of-the-art VAE and it relies on its EBM component to explicitly exclude non-data-like regions from the model and refine the image samples. Moreover, the VAE component in VAEBM allows us to speed up MCMC updates by reparameterizing them in …

Zhisheng Xiao, Karsten Kreis, Jan Kautz, Arash Vahdat

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VAEBM: A Symbiosis between Variational Autoencoders and Energy-based Models

gradSim: Differentiable simulation for system identification and visuomotor control

ICLR 2021

We consider the problem of estimating an object’s physical properties such as mass, friction, and elasticity directly from video sequences. Such a system identification problem is fundamentally ill-posed due to the loss of information during image formation. Current solutions require precise 3D labels which are labor-intensive to gather, and infeasible to create for many systems such as deformable solids or cloth. We present gradSim, a framework that overcomes the dependence on 3D supervision by leveraging differentiable multiphysics simulation and differentiable rendering to jointly model the evolution of scene dynamics and image formation. This novel combination enables backpropagation from pixels in a video sequence through to the underlying physical attributes that generated them. Moreover, our unified computation graph — spanning from the dynamics and through the rendering process — enables learning in challenging visuomotor control tasks, without relying on state-based (3D) …

Krishna Murthy Jatavallabhula, Miles Macklin, Florian Golemo, Vikram Voleti, Linda Petrini, Martin Weiss, Breandan Considine, Jérôme Parent-Lévesque, Kevin Xie, Kenny Erleben, Liam Paull, Florian Shkurti, Derek Nowrouzezahrai, Sanja Fidler

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gradSim: Differentiable simulation for system identification and visuomotor control

ReLMoGen: Integrating Reinforcement Learning and Motion Generation for Interactive Navigation

ICRA 2021

Many Reinforcement Learning (RL) approaches use joint control signals (positions, velocities, torques) as action space for continuous control tasks. We propose to lift the action space to a higher level in the form of subgoals for a motion generator (a combination of motion planner and trajectory executor). We argue that, by lifting the action space and by leveraging sampling-based motion planners, we can efficiently use RL to solve complex, long-horizon tasks that could not be solved with existing RL methods in the original action space. We propose ReLMoGen – a framework that combines a learned policy to predict subgoals and a motion generator to plan and execute the motion needed to reach these subgoals. To validate our method, we apply ReLMoGen to two types of tasks: 1) Interactive Navigation tasks, navigation problems where interactions with the environment are required to reach the destination, and 2) Mobile Manipulation tasks, manipulation tasks that require moving the …

Fei Xia, Chengshu Li, Roberto Martin-Martin, Alexander Toshev, Or Litany, Silvio Savarese

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ReLMoGen: Integrating Reinforcement Learning and Motion Generation for Interactive Navigation

UniCon: Universal Neural Controller For Physics-based Character Motion

UniCon

The field of physics-based animation is gaining importance due to the increasing demand for realism in video games and films, and has recently seen wide adoption of data-driven techniques, such as deep reinforcement learning (RL), which learn control from (human) demonstrations. While RL has shown impressive results at reproducing individual motions and interactive locomotion, existing methods are limited in their ability to generalize to new motions and their ability to compose a complex motion sequence interactively. In this paper, we propose a physics-based universal neural controller (UniCon) that learns to master thousands of motions with different styles by learning on large-scale motion datasets. UniCon is a two-level framework that consists of a high-level motion scheduler and an RL-powered low-level motion executor, which is our key innovation. By systematically analyzing existing multi-motion RL frameworks, we introduce a novel objective function and training techniques which …

Tingwu Wang, Yunrong Guo, Maria Shugrina, Sanja Fidler

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UniCon: Universal Neural Controller For Physics-based Character Motion

Kaolin: A PyTorch Library for Accelerating 3D Deep Learning Research

Pytorch Library

Kaolin is a PyTorch library aiming to accelerate 3D deep learning research. Kaolin provides efficient implementations of differentiable 3D modules for use in deep learning systems. With functionality to load and preprocess several popular 3D datasets, and native functions to manipulate meshes, pointclouds, signed distance functions, and voxel grids, Kaolin mitigates the need to write wasteful boilerplate code. Kaolin packages together several differentiable graphics modules including rendering, lighting, shading, and view warping. Kaolin also supports an array of loss functions and evaluation metrics for seamless evaluation and provides visualization functionality to render the 3D results. Importantly, we curate a comprehensive model zoo comprising many state-of-the-art 3D deep learning architectures, to serve as a starting point for future research endeavours.

Krishna Murthy Jatavallabhula, Edward Smith, Jean-Francois Lafleche, Clement Fuji-Tsang, Artem Rozantsev, Wenzheng Chen, Tommy Xiang, Rev Lebaredian, Sanja Fidler

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