{"id":"https://openalex.org/W4401413756","doi":"https://doi.org/10.1109/icra57147.2024.10611427","title":"Closing the Visual Sim-to-Real Gap with Object-Composable NeRFs","display_name":"Closing the Visual Sim-to-Real Gap with Object-Composable NeRFs","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413756","doi":"https://doi.org/10.1109/icra57147.2024.10611427"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611427","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611427","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101058494","display_name":"Nikhil Mishra","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nikhil Mishra","raw_affiliation_strings":["Covariant.ai"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Covariant.ai","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037849180","display_name":"Maximilian Sieb","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Maximilian Sieb","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049349154","display_name":"Pieter Abbeel","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pieter Abbeel","raw_affiliation_strings":["Covariant.ai"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Covariant.ai","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5120313167","display_name":"Xi Chen","orcid":"https://orcid.org/0009-0008-5008-4720"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xi Chen","raw_affiliation_strings":["Covariant.ai"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Covariant.ai","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8749,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.74397106,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"11202","last_page":"11208"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7275230884552002},{"id":"https://openalex.org/keywords/closing","display_name":"Closing (real estate)","score":0.7086009979248047},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5753396153450012},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18591254949569702},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.04847472906112671}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7275230884552002},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.7086009979248047},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5753396153450012},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18591254949569702},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.04847472906112671},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611427","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611427","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W398859631","https://openalex.org/W569478347","https://openalex.org/W2158782408","https://openalex.org/W2605102758","https://openalex.org/W2913937523","https://openalex.org/W2914944935","https://openalex.org/W2964239605","https://openalex.org/W2990578762","https://openalex.org/W3035756007","https://openalex.org/W3036167779","https://openalex.org/W3109585842","https://openalex.org/W3176368002","https://openalex.org/W3176659256","https://openalex.org/W3196466825","https://openalex.org/W3204326360","https://openalex.org/W3204859697","https://openalex.org/W3206394619","https://openalex.org/W4290057940","https://openalex.org/W4311428907","https://openalex.org/W4312433568","https://openalex.org/W4312477504","https://openalex.org/W4312933868","https://openalex.org/W4324109391","https://openalex.org/W4383109008","https://openalex.org/W4385403849","https://openalex.org/W4385430538","https://openalex.org/W4386071535","https://openalex.org/W4386075898","https://openalex.org/W4386076249","https://openalex.org/W4389665338","https://openalex.org/W6746282794","https://openalex.org/W6779823529","https://openalex.org/W6802704039","https://openalex.org/W6810146603","https://openalex.org/W6841420285","https://openalex.org/W6847590248","https://openalex.org/W6850480699"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2116422677","https://openalex.org/W2517007886","https://openalex.org/W2383994331","https://openalex.org/W1522019333","https://openalex.org/W278047738","https://openalex.org/W2076369646","https://openalex.org/W2373884197","https://openalex.org/W4244817184"],"abstract_inverted_index":{"Deep":[0],"learning":[1],"methods":[2],"for":[3,15,29,83],"perception":[4],"are":[5,52],"the":[6,77,93,131,145],"cornerstone":[7],"of":[8,79,114,134,151],"many":[9,112],"robotic":[10],"systems.":[11],"Despite":[12],"their":[13],"potential":[14,39],"impressive":[16],"performance,":[17],"obtaining":[18],"real-world":[19],"training":[20,85],"data":[21,86],"is":[22,76],"expensive,":[23],"and":[24,47,59,90,102,111,116,124,138],"can":[25,139],"be":[26,140],"impractically":[27],"difficult":[28],"some":[30],"tasks.":[31],"Sim-to-real":[32],"transfer":[33],"with":[34],"domain":[35],"randomization":[36],"offers":[37],"a":[38,80,149],"workaround,":[40],"but":[41],"often":[42],"requires":[43],"extensive":[44],"manual":[45],"tuning":[46],"results":[48],"in":[49],"models":[50],"that":[51,75,128],"brittle":[53],"to":[54,88,142],"distribution":[55],"shift":[56],"between":[57],"sim":[58],"real.":[60],"In":[61],"this":[62],"work,":[63],"we":[64],"introduce":[65],"Composable":[66],"Object":[67],"Volume":[68],"NeRF":[69,73,136],"(COV-NeRF),":[70],"an":[71],"object-composable":[72],"model":[74],"centerpiece":[78],"real-to-sim":[81],"pipeline":[82],"synthesizing":[84],"targeted":[87],"scenes":[89],"objects":[91,98],"from":[92,99],"real":[94,100],"world.":[95],"COV-NeRF":[96,129],"extracts":[97],"images":[101],"composes":[103],"them":[104],"into":[105],"new":[106],"scenes,":[107],"generating":[108],"photorealistic":[109],"renderings":[110],"types":[113],"2D":[115],"3D":[117],"supervision,":[118],"including":[119],"depth":[120],"maps,":[121],"segmentation":[122],"masks,":[123],"meshes.":[125],"We":[126],"show":[127],"matches":[130],"rendering":[132],"quality":[133],"modern":[135],"methods,":[137],"used":[141],"rapidly":[143],"close":[144],"sim-to-real":[146],"gap":[147],"across":[148],"variety":[150],"perceptual":[152],"modalities.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
