SAPIEN: A SimulAted Part-based Interactive ENvironment

Fanbo Xiang, Yuzhe Qin, Kaichun Mo, Yikuan Xia, Hao Zhu, Fangchen Liu, Minghua Liu, Hanxiao Jiang, Yifu Yuan, He Wang, Li Yi, Angel Chang, Leonidas Guibas, Hao Su
Conference on Computer Vision and Pattern Recognition (CVPR) 2020, Oral
PDF Code Project Website My contribution

We constructed a PhysX-based simulation environment using PartNet-Mobility dataset to support household robotics tasks. I am the project leader and worked on the following: 1. Constructed web interface for annotation of articulated object dataset. 2. Worked on a high-level simulator backed by PhysX. 3. Implemented OpenGL rasterization and OptiX ray-tracing for scene rendering. 4. Benchmarked motion prediction task with ResNet50/PointNet++ on RGB-D/point cloud inputs.

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