arXiv subjects

Renhan Wang

Publications and source records attributed to Renhan Wang.

3 recordsLinked to original sources

arXiv2026

SPEAR: A Simulator for Photorealistic Embodied AI Research

Interactive simulators have become powerful tools for training embodied agents and generating synthetic visual data, but existing photorealistic simulators suffer from limited generality, programmability, and rendering speed. We address these limitations by introducing SPEAR: A Simulator for Photorealistic Embodied AI Research. At its core, SPEAR is a Python library that can connect to, and programmatically control, any Unreal Engine (UE) application via a modular plugin architecture. SPEAR exposes over 14K unique UE functions to Python, representing an order-of-magnitude increase in programmable functionality over existing UE-based simulators. Additionally, a single SPEAR instance can render 1920x1080 photorealistic beauty images directly into a user's NumPy array at 73 frames per second - an order of magnitude faster than existing UE plugins - while also providing ground truth image modalities that are not available in any existing UE-based simulator (e.g., a non-diffuse intrinsic image decomposition, material IDs, and physically based shading parameters). Finally, SPEAR introduces an expressive high-level programming model that enables users to specify complex graphs of UE work with arbitrary data dependencies among work items, and to execute these graphs deterministically within a single UE frame. We demonstrate the utility of SPEAR through a diverse collection of example applications: controlling multiple embodied agents with distinct action spaces (e.g., humans, cars, and robots) across several in-the-wild UE projects; rendering photorealistic city-scale environments; manipulating UE's procedural content generation systems; rendering synchronized multi-view images of detailed human faces; coordinating an interactive co-simulation with the MuJoCo physics simulator; and editing scenes with natural language via an AI coding assistant.

cs.CV↗

arXiv2025

Towards Physically Executable 3D Gaussian for Embodied Navigation

3D Gaussian Splatting (3DGS), a 3D representation method with photorealistic real-time rendering capabilities, is regarded as an effective tool for narrowing the sim-to-real gap. However, it lacks fine-grained semantics and physical executability for Visual-Language Navigation (VLN). To address this, we propose SAGE-3D (Semantically and Physically Aligned Gaussian Environments for 3D Navigation), a new paradigm that upgrades 3DGS into an executable, semantically and physically aligned environment. It comprises two components: (1) Object-Centric Semantic Grounding, which adds object-level fine-grained annotations to 3DGS; and (2) Physics-Aware Execution Jointing, which embeds collision objects into 3DGS and constructs rich physical interfaces. We release InteriorGS, containing 1K object-annotated 3DGS indoor scene data, and introduce SAGE-Bench, the first 3DGS-based VLN benchmark with 2M VLN data. Experiments show that 3DGS scene data is more difficult to converge, while exhibiting strong generalizability, improving baseline performance by 31% on the VLN-CE Unseen task. Our data and code are available at: https://sage-3d.github.io.

cs.CV↗

arXiv2025

X2Video: Adapting Diffusion Models for Multimodal Controllable Neural Video Rendering

We present X2Video, the first diffusion model for rendering photorealistic videos guided by intrinsic channels including albedo, normal, roughness, metallicity, and irradiance, while supporting intuitive multi-modal controls with reference images and text prompts for both global and local regions. The intrinsic guidance allows accurate manipulation of color, material, geometry, and lighting, while reference images and text prompts provide intuitive adjustments in the absence of intrinsic information. To enable these functionalities, we extend the intrinsic-guided image generation model XRGB to video generation by employing a novel and efficient Hybrid Self-Attention, which ensures temporal consistency across video frames and also enhances fidelity to reference images. We further develop a Masked Cross-Attention to disentangle global and local text prompts, applying them effectively onto respective local and global regions. For generating long videos, our novel Recursive Sampling method incorporates progressive frame sampling, combining keyframe prediction and frame interpolation to maintain long-range temporal consistency while preventing error accumulation. To support the training of X2Video, we assembled a video dataset named InteriorVideo, featuring 1,154 rooms from 295 interior scenes, complete with reliable ground-truth intrinsic channel sequences and smooth camera trajectories. Both qualitative and quantitative evaluations demonstrate that X2Video can produce long, temporally consistent, and photorealistic videos guided by intrinsic conditions. Additionally, X2Video effectively accommodates multi-modal controls with reference images, global and local text prompts, and simultaneously supports editing on color, material, geometry, and lighting through parametric tuning. Project page: https://luckyhzt.github.io/x2video

cs.GR↗