SAPIEN: A SimulAted Part-based Interactive ENvironment
Conference on Computer Vision and Pattern Recognition (CVPR) 2020, Oral
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.