RoboCloth is a new dataset comprising 500 real cloth materials captured with robotically controlled cameras and lighting. Each material is imaged in about 580 high‑dynamic‑range frames across a wide view‑light hemisphere, with camera poses refined via structure‑from‑motion and aligned to the robot frame to provide per‑material sparse geometry and structured reflectance observations. The authors use this data to train a two‑stage neural reconstruction pipeline, demonstrating that a decoder trained on RoboCloth outperforms those trained on existing datasets and analytic PBR fitting, and transfers well to unseen acquisition systems.
We present RoboCloth, a dataset of 500 real cloth materials captured under flexible, calibrated camera and lighting configurations, where both are robotically controlled during acquisition. Each mater...
Projector-camera (ProCams) systems achieve active scene perception and controllable appearance manipulation via structured illumination, serving as a core infrastructure for spatial augmented reality, projection mapping, and surface reflectance acquisition. Existing inverse-rendering methods for ProCams deliver high-fidelity results but rely on time-consuming per-scene optimization, while mainstream feed-forward 3D reconstruction models produce baked appearance that cannot adapt to spatially varying projector illumination.
MessyKitchens introduces a new dataset of cluttered real-world kitchen scenes with detailed 3D object shapes, poses, and accurate contact information. The authors extend the SAM 3D single-object reconstruction method with a Multi-Object Decoder (MOD) to jointly reconstruct entire scenes, achieving better registration accuracy and reduced inter-object penetration compared to prior work. The dataset, benchmark, code, and pretrained models will be publicly released on the project website.
GenCOPE introduces a synthetic-to-real (Syn2Real) approach for category-level object pose estimation (COPE) that eliminates the need for labor-intensive real-world data collection. By learning domain-invariant representations through 2D and 3D semantic consistency constraints and employing an end-to-end pose regression framework with 2D-3D cross consistency, the model achieves robust generalization across synthetic and real domains. The architecture relies solely on global features, resulting in a lightweight and efficient design validated on REAL275, Wild6D, and real-world robotic manipulation scenes.
arXiv:2607. 13479v1 Announce Type: cross Abstract: Estimating the full shape of a deformable object is especially challenging when vision is unavailable: in the dark, inside an opaque bag, behind the manipulating hand, or under heavy self-occlusion.
InternW0-Δ is a unified World Action Model that integrates pretrained visual dynamics, scene semantics, 4D geometry, and motion priors within a Mixture-of-Transformers framework to generate robot actions. It leverages a frozen VLM for semantic guidance, a 4D foundation model for geometric priors, and introduces Causal Imprint to learn future-relevant scene changes without future-video rollout. The model is pretrained on a newly curated 20K‑hour heterogeneous corpus of robot and human demonstrations, achieving superior performance on simulation benchmarks and real‑robot platforms.
arXiv:2609.23796v2 Announce Type: replace Abstract: Single-image 3D object generation can now produce high-fidelity assets, yet accurately placing them into a coherent scene layout remains an open ch...
SUPRA-Tex is a new method for single‑image 3D generation that dresses a 3D mesh with relightable materials while preserving the visual details of a reference image. It decouples visible‑material estimation, surface alignment, and observation‑guided 3D completion, allowing a 3D generator trained on limited data to focus on preserving visible evidence and completing unobserved surfaces. The approach uses an MLLM‑based image editor to predict lighting‑separated PBR maps, projects them onto the visible surface, encodes them with a pretrained material VAE, and employs an interleaved flow transformer to generate complete material latents, achieving state‑of‑the‑art performance on geometry‑conditioned texturing and end‑to‑end asset generation.
World models endow perceptual systems with the ability to predict how scenes evolve under interaction. They are most beneficial when trained on diverse volumes of data, to instill a rich prior into do...
arXiv:2610.28880v1 Announce Type: cross Abstract: Human video scales easily and does not need robot hardware, but existing methods require depth sensing, overlay the robot onto 2D video, or generate...
Being‑M0.7 is a latent world‑action model that learns from a large mixed‑modality human dataset (over 10,000 hours of video‑only, motion‑only, and paired video‑motion data) to predict future latent visual states and motion. The model is pre‑trained on human data, adapted to robot viewpoints during mid‑training, and then combined with an action expert via gated cross‑attention during post‑training to produce executable whole‑body commands. In experiments, Being‑M0.7 outperforms baselines on the SIMPLE benchmark and matches the best baseline on real‑world Unitree G1 loco‑manipulation tasks.
arXiv:2608.29881v1 Announce Type: new Abstract: Monocular depth estimation has achieved strong open-domain generalization, yet reliable robotic deployment remains difficult in transparent, reflective...