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RELATE: Physically Plausible Multi-Object Scene Synthesis Using Structured Latent Spaces

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 Publication date 2020
and research's language is English




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We present RELATE, a model that learns to generate physically plausible scenes and videos of multiple interacting objects. Similar to other generative approaches, RELATE is trained end-to-end on raw, unlabeled data. RELATE combines an object-centric GAN formulation with a model that explicitly accounts for correlations between individual objects. This allows the model to generate realistic scenes and videos from a physically-interpretable parameterization. Furthermore, we show that modeling the object correlation is necessary to learn to disentangle object positions and identity. We find that RELATE is also amenable to physically realistic scene editing and that it significantly outperforms prior art in object-centric scene generation in both synthetic (CLEVR, ShapeStacks) and real-world data (cars). In addition, in contrast to state-of-the-art methods in object-centric generative modeling, RELATE also extends naturally to dynamic scenes and generates videos of high visual fidelity. Source code, datasets and more results are available at http://geometry.cs.ucl.ac.uk/projects/2020/relate/.



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58 - Akarsh Kumar 2021
All hand-object interaction is controlled by forces that the two bodies exert on each other, but little work has been done in modeling these underlying forces when doing pose and contact estimation from RGB/RGB-D data. Given the pose of the hand and object from any pose estimation system, we propose an end-to-end differentiable model that refines pose estimates by learning the forces experienced by the object at each vertex in its mesh. By matching the learned net force to an estimate of net force based on finite differences of position, this model is able to find forces that accurately describe the movement of the object, while resolving issues like mesh interpenetration and lack of contact. Evaluating on the ContactPose dataset, we show this model successfully corrects poses and finds contact maps that better match the ground truth, despite not using any RGB or depth image data.
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