Picasso: Holistic Scene Reconstruction with Physics-Constrained Sampling

ArXi:2602.08058v2 Announce Type: replace-cross In the presence of occlusions and measurement noise, geometrically accurate scene reconstructions -- which fit the sensor data -- can still be physically incorrect. For instance, when estimating the poses and shapes of objects in the scene and importing the resulting estimates into a simulator, small errors might translate to implausible configurations including object interpenetration or unstable equilibrium.