I2CD: Direct Image-to-Convex Decomposition for Simulation-Ready Collision Geometry
cs.RO, cs.CV
Submitted: 2026-10-02
Updated: 2026-10-02
Code: https://github.com/Genesis-Embodied-AI/Genesis
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Sources
- Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
- Hunyuan3D 2.0: Scaling Diffusion Models for High Resolution Textured 3D Assets Generation
- SAM 3D: 3Dfy Anything in Images
- Subsecond 3D Mesh Generation for Robot Manipulation
- Simulation-Ready Cluttered Scene Estimation via Physics-aware Joint Shape and Pose Optimization
- Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Items
- LRM: Large Reconstruction Model for Single Image to 3D
- InstantMesh: Efficient 3D Mesh Generation from a Single Image with Sparse-view Large Reconstruction Models
- Flow Matching for Generative Modeling
- Empart: Interactive Convex Decomposition for Converting Meshes to Parts
- Convex Primitive Decomposition for Collision Detection
- Learning Convex Decomposition via Feature Fields
- MolmoSpaces: A Large-Scale Open Ecosystem for Robot Navigation and Manipulation
- SAM 3: Segment Anything with Concepts
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