In this paper, we focus on the simulation of active stereovision depth sensors, which are popular in both academic and industry communities. Inspired by the underlying mechanism of the sensors, we designed a fully physics-grounded simulation pipeline that includes material acquisition, ray-tracing-based infrared (IR) image rendering, IR noise simulation, and depth estimation. The pipeline is able to generate depth maps with material-dependent error patterns similar to a real depth sensor in real time. We conduct real experiments to show that perception algorithms and reinforcement learning policies trained in our simulation platform could transfer well to the real-world test cases without any fine-tuning. Furthermore, due to the high degree of realism of this simulation, our depth sensor simulator can be used as a convenient testbed to evaluate the algorithm performance in the real world, which will largely reduce the human effort in developing robotic algorithms. The entire pipeline has been integrated into the SAPIEN simulator and is open-sourced to promote the research of vision and robotics communities.

Point cloud segmentation is a fundamental task in 3D. Despite recent progress on point cloud segmentation with the power of deep networks, current learning methods based on the clean label assumptions may fail with noisy labels. Yet, class labels are often mislabeled at both instance-level and boundary-level in real-world datasets. In this work, we take the lead in solving the instance-level label noise by proposing a Point Noise-Adaptive Learning (PNAL) framework. Compared to noise-robust methods on image tasks, our framework is noise-rate blind, to cope with the spatially variant noise rate specific to point clouds. Specifically, we propose a point-wise confidence selection to obtain reliable labels from the historical predictions of each point. A cluster-wise label correction is proposed with a voting strategy to generate the best possible label by considering the neighbor correlations. To handle boundary-level label noise, we also propose a variant ``PNAL-boundary " with a progressive boundary label cleaning strategy. Extensive experiments demonstrate its effectiveness on both synthetic and real-world noisy datasets. Even with $60\%$ symmetric noise and high-level boundary noise, our framework significantly outperforms its baselines, and is comparable to the upper bound trained on completely clean data. Moreover, we cleaned the popular real-world dataset ScanNetV2 for rigorous experiment. Our code and data is available at https://github.com/pleaseconnectwifi/PNAL.