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URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Images
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2026-02-17 01:02:10
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URDFormer More Research ISAGrasp GenAug URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Images RSS 2024 Zoey Chen 1 , Aaron Walsman 1 , Marius Memmel 1 , Kaichun Mo 2 , Alex Fang 1 , Karthikeya Vemuri 1 , Alan Wu 1 , Dieter Fox* 1,2 Abhishek Gupta* 1,2 1 University of Washington, 2 Nvidia, * Equal Advising Paper Video Code We propose URDFormer, a scalable pipeline towards large-scale simulation generation from real-world images. Given an image (from the internet or captured from a phone), URDFormer predicts its corresponding interactive "digital twin" in the format of a URDF. This URDF can be loaded into a simulator to train a robot for different tasks. URDFormer Applications (a) For the safe deployment of robots in real-world settings, we initially create a 'digital' replica of the real-world scene. ...
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