US Patent 11508167 Convex representation of objects using neural network

Methods, systems, and apparatus including computer programs encoded on a computer storage medium, for generating convex decomposition of objects using neural network models. One of the methods includes receiving an input that depicts an object. The input is processed using a neural network to generate an output that defines a convex representation of the object. The output includes, for each of a plurality of convex elements, respective parameters that define a position of the convex element in the convex representation of the object.