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High-fidelity reconstruction of surgical scene is a fundamentally crucial task to support many applications, such as intra-operative navigation and surgical education. However, most existing methods assume the ideal surgical scenarios -…

3D reconstruction and simulation, although interrelated, have distinct objectives: reconstruction requires a flexible 3D representation that can adapt to diverse scenes, while simulation needs a structured representation to model motion…

Secondary animation effects are essential for liveliness. We propose a simple, real-time solution for adding them on top of standard skinning, enabling artist-driven stylization of skeletal motion. Our method takes a standard skeleton…

Skeleton-based action recognition is widely utilized in sensor systems including human-computer interaction and intelligent surveillance. Nevertheless, current sensor devices typically generate sparse skeleton data as discrete coordinates,…

While novel view synthesis for dynamic scenes has made significant progress, capturing skeleton models of objects and re-posing them remains a challenging task. To tackle this problem, in this paper, we propose a novel approach to…

Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…

Realistic animatable human avatars from monocular videos are crucial for advancing human-robot interaction and enhancing immersive virtual experiences. While recent research on 3DGS-based human avatars has made progress, it still struggles…

We propose a reduced-space elasto-dynamic solver that is well suited for augmenting rigged character animations with secondary motion. At the core of our method is a novel deformation subspace based on Linear Blend Skinning that overcomes…

Due to the availability of large-scale skeleton datasets, 3D human action recognition has recently called the attention of computer vision community. Many works have focused on encoding skeleton data as skeleton image representations based…

In this work, we propose a novel clothed human reconstruction method called GaussianBody, based on 3D Gaussian Splatting. Compared with the costly neural radiance based models, 3D Gaussian Splatting has recently demonstrated great…

We present RigNet, an end-to-end automated method for producing animation rigs from input character models. Given an input 3D model representing an articulated character, RigNet predicts a skeleton that matches the animator expectations in…

Skeleton data is of low dimension. However, there is a trend of using very deep and complicated feedforward neural networks to model the skeleton sequence without considering the complexity in recent year. In this paper, a simple yet…

Skeleton creation is an important phase in the character animation pipeline. However, handcrafting skeleton takes extensive labor time and domain knowledge. Automatic skeletonization provides a solution. However, most of the current…

Skinning is a popular way to rig and deform characters for animation, to compute reduced-order simulations, and to define features for geometry processing. Methods built on skinning rely on weight functions that distribute the influence of…

Combining accurate geometry with rich semantics has been proven to be highly effective for language-guided robotic manipulation. Existing methods for dynamic scenes either fail to update in real-time or rely on additional depth sensors for…

Dynamic extensions of 3D Gaussian Splatting (3DGS) achieve high-quality reconstructions through neural motion fields, but per-Gaussian neural inference makes these models computationally expensive. Building on DeformableGS, we introduce…

We present a novel approach for photorealistic robot simulation that integrates 3D Gaussian Splatting as a drop-in renderer within vectorized physics simulators such as IsaacGym. This enables unprecedented speed -- exceeding 100,000 steps…

Large-scale controllable 3D assets are critical for computer graphics, embodied AI, robotics, and interactive content creation, yet creating diverse 3D assets remains challenging due to the high cost of manual modeling and rigging. Shape…

Synthesizing novel views from in-the-wild monocular videos is challenging due to scene dynamics and the lack of multi-view cues. To address this, we propose SplineGS, a COLMAP-free dynamic 3D Gaussian Splatting (3DGS) framework for…

Recently, with the development of Neural Radiance Fields and Gaussian Splatting, 3D reconstruction techniques have achieved remarkably high fidelity. However, the latent representations learnt by these methods are highly entangled and lack…