相关论文: CausalGS: Learning Physical Causality of 3D Dynami…

3D Gaussian Splatting (3DGS) has emerged as a powerful and efficient 3D representation for novel view synthesis. This paper extends 3DGS capabilities to inpainting, where masked objects in a scene are replaced with new contents that blend…

Teaching robots to fold, drape, or reposition deformable objects such as cloth will unlock a variety of automation applications. While remarkable progress has been made for rigid object manipulation, manipulating deformable objects poses…

Integrating open-vocabulary semantic information into dynamic 3D scene representations is essential for long-term embodied scene understanding. However, existing methods often suffer from fragile instance association due to incomplete…

Dynamic scene reconstruction is a long-term challenge in the field of 3D vision. Recently, the emergence of 3D Gaussian Splatting has provided new insights into this problem. Although subsequent efforts rapidly extend static 3D Gaussian to…

Imitation learning enables high-fidelity, vision-based learning of policies within rich, photorealistic environments. However, such techniques often rely on traditional discrete-time neural models and face difficulties in generalizing to…

Reconstructing dynamic 3D scenes from blurry monocular videos is challenging as motion-induced blur entangles object motion and geometry, hindering geometric consistency. We present Kinematics-GS, a kinematics-aware framework that models…

3D Gaussian Splatting (3DGS) has recently gained popularity for efficient scene rendering by representing scenes as explicit sets of anisotropic 3D Gaussians. However, most existing work focuses primarily on modeling external surfaces. In…

We investigate the emergence of intuitive physics understanding in general-purpose deep neural network models trained to predict masked regions in natural videos. Leveraging the violation-of-expectation framework, we find that video…

3D Gaussian Splatting (3DGS) has become an emerging tool for dynamic scene reconstruction. However, existing methods focus mainly on extending static 3DGS into a time-variant representation, while overlooking the rich motion information…

Intelligent agents need a physical understanding of the world to predict the impact of their actions in the future. While learning-based models of the environment dynamics have contributed to significant improvements in sample efficiency…

Extracting and predicting object structure and dynamics from videos without supervision is a major challenge in machine learning. To address this challenge, we adopt a keypoint-based image representation and learn a stochastic dynamics…

3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actionable kinematic information required for…

We present MOSAIC-GS, a novel, fully explicit, and computationally efficient approach for high-fidelity dynamic scene reconstruction from monocular videos using Gaussian Splatting. Monocular reconstruction is inherently ill-posed due to the…

The ability to model the underlying dynamics of visual scenes and reason about the future is central to human intelligence. Many attempts have been made to empower intelligent systems with such physical understanding and prediction…

Understanding causes and effects in mechanical systems is an essential component of reasoning in the physical world. This work poses a new problem of counterfactual learning of object mechanics from visual input. We develop the CoPhy…

Holistic 3D human-scene reconstruction is a crucial and emerging research area in robot perception. A key challenge in holistic 3D human-scene reconstruction is to generate a physically plausible 3D scene from a single monocular RGB image.…

Accurately simulating existing 3D objects and a wide variety of materials often demands expert knowledge and time-consuming physical parameter tuning to achieve the desired dynamic behavior. We introduce MotionPhysics, an end-to-end…

This paper considers the problem of modeling articulated objects captured in 2D videos to enable novel view synthesis, while also being easily editable, drivable, and re-posable. To tackle this challenging problem, we propose RigGS, a new…

In recent years, deep generative models have been shown to 'imagine' convincing high-dimensional observations such as images, audio, and even video, learning directly from raw data. In this work, we ask how to imagine goal-directed visual…

We reinterpret 4D Gaussian Splatting as a continuous-time dynamical system, where scene motion arises from integrating a learned neural dynamical field rather than applying per-frame deformations. This formulation, which we call EvoGS,…