Building 3D Representations and Generating Motions From a Single Image via Video-Generation

Autonomous robots typically need to construct representations of their surroundings and adapt their motions to the geometry of their environment. Here, we tackle the problem of constructing a policy model for collision-free motion generation, consistent with the environment, from a single input RGB image. Extracting 3D structures from a single image often involves monocular depth estimation. Developments in depth estimation have given rise to large pre-trained models such as \emph{DepthAnything}. However, using outputs of these models for downstream motion generation is challenging due to frustum-shaped errors that arise.