RoboSpatial: Teaching Spatial Understanding to 2D and 3D Vision-Language Models for Robotics

Spatial understanding is a crucial capability for robots to make grounded decisions based on their environment. This foundational skill enables robots not only to perceive their surroundings but also to reason about and interact meaningfully within the world. In modern robotics, these capabilities are taken on by visual language models, and they face significant challenges when applied to spatial reasoning context due to their training data sources. These sources utilize general-purpose image datasets, and they often lack sophisticated spatial scene understanding capabilities. For example, the datasets do not address reference frame comprehension - spatial relationships require clear contextual understanding, whether from an ego-centric, object-centric, or world-centric perspective, which allow for effective real-world interaction. To address this issue, we introduce RoboSpatial, a large-scale spatial understanding dataset consisting of real indoor and tabletop scenes captured as 3D scans and egocentric images, annotated with rich spatial information relevant to robotics. The dataset includes 1M images, 5K 3D scans, and 3M annotated spatial relationships, with paired 2D egocentric images and 3D scans to make it both 2D and 3D ready. Our experiments show that models trained with RoboSpatial outperform baselines on downstream tasks such as spatial affordance prediction, spatial relationship prediction, and robotics manipulation.

SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation

We introduce SPOT, an object-centric imitation learning framework. The key idea is to capture each task by an object-centric representation, specifically the SE(3) object pose trajectory relative to the target. This approach decouples embodiment actions from sensory inputs, facilitating learning from various demonstration types, including both action-based and action-less human hand demonstrations, as well as cross-embodiment generalization. Additionally, object pose trajectories inherently capture planning constraints from demonstrations without the need for manually crafted rules. To guide the robot in executing the task, the object trajectory is used to condition a diffusion policy. We show improvement compared to prior work on RLBench simulated tasks. In real-world evaluation, using only eight demonstrations shot on an iPhone, our approach completed all tasks while fully complying with task constraints. Project page: https://nvlabs.github.io/object_centric_diffusion

GRS: Generating Robotic Simulation Tasks from Real-World Images

We introduce GRS (Generating Robotic Simulation tasks), a novel system to address the challenge of real-to-sim in robotics, computer vision, and AR/VR. GRS enables the creation of digital twin simulations from single real-world RGB-D observations, complete with diverse, solvable tasks for virtual agent training. We use state-of-the-art vision-language models (VLMs) to achieve a comprehensive real-to-sim pipeline. GRS operates in three stages: 1) scene comprehension using SAM2 for object segmentation and VLMs for object description, 2) matching identified objects with simulation-ready assets, and 3) generating contextually appropriate robotic tasks. Our approach ensures simulations align with task specifications by generating test suites designed to verify adherence to the task specification. We introduce a router that iteratively refines the simulation and test code to ensure the simulation is solvable by a robot policy while remaining aligned to the task specification. Our experiments demonstrate the system's efficacy in accurately identifying object correspondence, which allows us to generate task environments that closely match input environments, and enhance automated simulation task generation through our novel router mechanism.

NeRFDeformer: NeRF Transformation from a Single View via 3D Scene Flows

We present a method for automatically modifying a NeRF representation based on a single observation of a non-rigid transformed version of the original scene. Our method defines the transformation as a 3D flow, specifically as a weighted linear blending of rigid transformations of 3D anchor points that are defined on the surface of the scene. In order to identify anchor points, we introduce a novel correspondence algorithm that first matches RGB-based pairs, then leverages multi-view information and 3D reprojection to robustly filter false positives in two steps. We also introduce a new dataset for exploring the problem of modifying a NeRF scene through a single observation. Our dataset ( https://github.com/nerfdeformer/nerfdeformer ) contains 113 synthetic scenes leveraging 47 3D assets. We show that our proposed method outperforms NeRF editing methods as well as diffusion-based methods, and we also explore different methods for filtering correspondences.

Unlocking the Secrets of Linear Complexity Sequence Model from A Unified Perspective

We present the Linear Complexity Sequence Model (LCSM), a comprehensive solution that unites various sequence modeling techniques with linear complexity, including linear attention, state space model, long convolution, and linear RNN, within a single framework. The goal is to enhance comprehension of these models by analyzing the impact of each component from a cohesive and streamlined viewpoint. Specifically, we segment the modeling processes of these models into three distinct stages: Expand, Oscillation, and Shrink (EOS), with each model having its own specific settings. The Expand stage involves projecting the input signal onto a high-dimensional memory state. This is followed by recursive operations performed on the memory state in the Oscillation stage. Finally, the memory state is projected back to a low-dimensional space in the Shrink stage. We perform comprehensive experiments to analyze the impact of different stage settings on language modeling and retrieval tasks. Our results show that data-driven methods are crucial for the effectiveness of the three stages in language modeling, whereas hand-crafted methods yield better performance in retrieval tasks.

Neural Implicit Representation for Building Digital Twins of Unknown Articulated Objects

We address the problem of building digital twins of unknown articulated objects from two RGBD scans of the object at different articulation states. We decompose the problem into two stages, each addressing distinct aspects. Our method first reconstructs object-level shape at each state, then recovers the underlying articulation model including part segmentation and joint articulations that associate the two states. By explicitly modeling point-level correspondences and exploiting cues from images, 3D reconstructions, and kinematics, our method yields more accurate and stable results compared to prior work. It also handles more than one movable part and does not rely on any object shape or structure priors. Project page: https://github.com/NVlabs/DigitalTwinArt

FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects

We present FoundationPose, a unified foundation model for 6D object pose estimation and tracking, supporting both model-based and model-free setups. Our approach can be instantly applied at test-time to a novel object without fine-tuning, as long as its CAD model is given, or a small number of reference images are captured. We bridge the gap between these two setups with a neural implicit representation that allows for effective novel view synthesis, keeping the downstream pose estimation modules invariant under the same unified framework. Strong generalizability is achieved via large-scale synthetic training, aided by a large language model (LLM), a novel transformer-based architecture, and contrastive learning formulation. Extensive evaluation on multiple public datasets involving challenging scenarios and objects indicate our unified approach outperforms existing methods specialized for each task by a large margin. In addition, it even achieves comparable results to instance-level methods despite the reduced assumptions. Project page: https://nvlabs.github.io/FoundationPose/

Diff-DOPE: Differentiable Deep Object Pose Estimation

We introduce Diff-DOPE, a 6-DoF pose refiner that takes as input an image, a 3D textured model of an object, and an initial pose of the object. The method uses differentiable rendering to update the object pose to minimize the visual error between the image and the projection of the model. We show that this simple, yet effective, idea is able to achieve state-of-the-art results on pose estimation datasets. Our approach is a departure from recent methods in which the pose refiner is a deep neural network trained on a large synthetic dataset to map inputs to refinement steps. Rather, our use of differentiable rendering allows us to avoid training altogether. Our approach performs multiple gradient descent optimizations in parallel with different random learning rates to avoid local minima from symmetric objects, similar appearances, or wrong step size. Various modalities can be used, e.g., RGB, depth, intensity edges, and object segmentation masks. We present experiments examining the effect of various choices, showing that the best results are found when the RGB image is accompanied by an object mask and depth image to guide the optimization process.

HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructions

We present the HANDAL dataset for category-level object pose estimation and affordance prediction. Unlike previous datasets, ours is focused on robotics-ready manipulable objects that are of the proper size and shape for functional grasping by robot manipulators, such as pliers, utensils, and screwdrivers. Our annotation process is streamlined, requiring only a single off-the-shelf camera and semi-automated processing, allowing us to produce high-quality 3D annotations without crowd-sourcing. The dataset consists of 308k annotated image frames from 2.2k videos of 212 real-world objects in 17 categories. We focus on hardware and kitchen tool objects to facilitate research in practical scenarios in which a robot manipulator needs to interact with the environment beyond simple pushing or indiscriminate grasping. We outline the usefulness of our dataset for 6-DoF category-level pose+scale estimation and related tasks. We also provide 3D reconstructed meshes of all objects, and we outline some of the bottlenecks to be addressed for democratizing the collection of datasets like this one.

Partial-View Object View Synthesis via Filtered Inversion

We propose Filtering Inversion (FINV), a learning framework and optimization process that predicts a renderable 3D object representation from one or few partial views. FINV addresses the challenge of synthesizing novel views of objects from partial observations, spanning cases where the object is not entirely in view, is partially occluded, or is only observed from similar views. To achieve this, FINV learns shape priors by training a 3D generative model. At inference, given one or more views of a novel real-world object, FINV first finds a set of latent codes for the object by inverting the generative model from multiple initial seeds. Maintaining the set of latent codes, FINV filters and resamples them after receiving each new observation, akin to particle filtering. The generator is then finetuned for each latent code on the available views in order to adapt to novel objects. We show that FINV successfully synthesizes novel views of real-world objects (e.g., chairs, tables, and cars), even if the generative prior is trained only on synthetic objects. The ability to address the sim-to-real problem allows FINV to be used for object categories without real-world datasets. FINV achieves state-of-the-art performance on multiple real-world datasets, recovers object shape and texture from partial and sparse views, is robust to occlusion, and is able to incrementally improve its representation with more observations.