SPARCS uses a differentiable contact model and sparse Hessian solver to jointly optimize shapes and poses of up to five interacting objects, producing physically valid simulation-ready reconstructions.
Physpose: Refining 6d object poses with physical constraints
3 Pith papers cite this work. Polarity classification is still indexing.
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2026 3representative citing papers
A differentiable optimization pipeline uses a contact graph and rigid-body simulation to jointly refine object poses and physical properties, producing physically valid 3D scene reconstructions from single-view RGB-D observations for cluttered environments.
citing papers explorer
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Simulation-Ready Cluttered Scene Estimation via Physics-aware Joint Shape and Pose Optimization
SPARCS uses a differentiable contact model and sparse Hessian solver to jointly optimize shapes and poses of up to five interacting objects, producing physically valid simulation-ready reconstructions.
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Real-to-Sim for Highly Cluttered Environments via Physics-Consistent Inter-Object Reasoning
A differentiable optimization pipeline uses a contact graph and rigid-body simulation to jointly refine object poses and physical properties, producing physically valid 3D scene reconstructions from single-view RGB-D observations for cluttered environments.
- Picasso: Holistic Scene Reconstruction with Physics-Constrained Sampling