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Computer Science Graphics

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Thursday 1 October

Graphics · Cross-listed from cs.CV

EditHero: A Benchmark for Long-Horizon Part-Level 3D Editing and Vibe Modeling

Ruihan Yu, Yu-Ju Tsai, Muyao Niu et al. (+9 more)

3D editing methods are usually tested on a single edit, yet an asset is built through a long sequence of revisions, each of which must implement the requested change while leaving everything else unchanged. We introduce EditHero, to our knowledge the first benchmark for long-horizon, part-level 3D editing, with natural-language instructions and target images for both geometry and texture. A deterministic assembly engine produces the exact target after every edit, and every sequence is reviewed by hand. We use EditHero to compare 2 opposite approaches to 3D editing. Non-agentic methods operate top down, regenerating the object from a learned 3D representation and inferring what to keep. In contrast, LLM/VLM agents operate bottom up, editing through code that inspects the mesh and rewrites only the parts required by instructions. The non-agentic methods often miss the requested change and disturb regions that should stay fixed. Most LLMs follow instructions more closely, and all of them preserve the unedited parts better, but each of their edits takes minutes. We will release the engine and the edit sequences to support research on reliable iterative 3D editing.
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All authors Ruihan Yu, Yu-Ju Tsai, Muyao Niu, Runyi Li, Lian Fu, Hanqing Liu, Zheng-Hui Huang, Yonghao Yu, Sho Kuno, Ming-Hsuan Yang, Kaipeng Zhang, Zhixiang Wang

Graphics · Cross-listed from cs.RO

InterEvolve: Test-Time Evolution of Reward Programs for Humanoid Loco-Manipulation

Zhuo Lin, Sirui Xu, Liuyu Bian et al. (+2 more)

We study test-time evolution for humanoid loco-manipulation: solving tasks that a controller was never trained for by repurposing its existing skills, improving from its own attempts, and retaining what it learns, without retraining. Our key insight is that a broad controller already holds much of the competence a new task needs, and that this competence becomes accessible through an interface between planning and control that is expressive enough to specify contact-rich, multi-stage interactions, yet executable and measurable enough that execution feedback can guide planning from experience. InterEvolve realizes this interface with two components. First, we develop an object-aware forward-backward (FB) behavioral foundation model, whose object residuals on a frozen body prior turn a new reward about the body or objects into loco-manipulation behavior at test time. Second, we specify tasks as reward programs: staged rewards with completion conditions and tunable constants. A large language model (LLM) agent revises the program structure in context, drawing on execution feedback and a skill library of verified programs, while a numerical optimizer tunes its constants. With every candidate verified across parallel simulation scenarios, the program explores new ways to induce, repurpose, and compose the controller's existing motor competence for the task at hand, and thus improves over iterations. Experiments show that human-designed rewards leave much of the FB model's loco-manipulation competence untapped, whereas the programs InterEvolve evolves release it, sometimes through novel strategies. It further produces behaviors for diverse tasks, complex scenes, and long-horizon compositions in simulation, and evolved skills run autonomously on a physical Unitree G1 from egocentric onboard perception.
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All authors Zhuo Lin, Sirui Xu, Liuyu Bian, Yu-Xiong Wang, Liang-Yan Gui

Graphics · Cross-listed from cs.CV

MosaiChunk: Compositing Spatio-Temporal Memory for Autoregressive Video Generation

Yiwen Zhang, Haocheng Xi, Michael Tian-Yue Liu et al. (+4 more)

Long-horizon autoregressive video generation is limited by a finite context window. When an object or scene falls out of context, its fine-grained visual details may be lost and difficult to recover upon reappearance. To retain access to such visual details, we introduce MosaiChunk, a spatio-temporal memory mechanism that composes a mosaic of selected historical key-value (KV) entries across space and time. Our approach is motivated by the observation that a frozen video generator can directly consume such non-contiguous historical KV and recover the corresponding visual content. We therefore keep the generator fixed and learn only a lightweight router that determines which historical sections to include in the mosaic under a fixed active-memory budget. We further introduce RememBench, a benchmark of long-horizon revisits with prompt-driven text-to-video (T2V) and camera-driven image-to-video (I2V) splits. Our experiments show that MosaiChunk consistently improves revisit consistency over both sliding-window inference and whole-chunk retrieval under matched memory budgets, across both T2V and I2V settings.
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All authors Yiwen Zhang, Haocheng Xi, Michael Tian-Yue Liu, Alexei A. Efros, Hadar Averbuch-Elor, Qianqian Wang, Haiwen Feng

Graphics · Cross-listed from cs.CV

LiteReality-Agent: An Agentic System for Interactable 3D Indoor Scene Reconstruction

Zhening Huang, Yueyan Li, Johnathan Chiu et al. (+5 more)

We present LiteReality-Agent, an agentic system for reconstructing real indoor environments as realistic, articulated, and simulation-ready 3D scenes from RGB-D scans. At its core, LiteReality-Agent formulates 3D reconstruction as a coding problem, in which a coding agent gathers evidence using specialised tools and iteratively edits a Python script, Room.py, which can be executed to produce a 3D digital twin of the room. With this formulation, we develop a robust observe-edit-verify harness that supports evidence gathering, measurement, verification, layout optimisation, simulation readiness, and quality control throughout the reconstruction process. LiteReality-Agent produces high-quality reconstructions suitable for simulation and downstream embodied AI tasks. Furthermore, as agent capabilities continue to improve rapidly, the system introduced by LiteReality-Agent remains a strong orchestration framework for future agents: it equips them with specialised tools, structured workflows, and robust verification mechanisms that substantially improve reconstruction quality and reliability. We demonstrate that LiteReality-Agent produces reconstructions that are more geometrically accurate, visually realistic, and simulation-compatible than those generated by recent frontier models, such as Astra and Fable. We therefore view LiteReality-Agent as a practical and important building block for robust real-to-sim systems. Both the source code and the data-capture application are publicly available. Code:https://github.com/LiteReality/LiteReality-Agent/
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All authors Zhening Huang, Yueyan Li, Johnathan Chiu, Xiaoyang Lyu, Matt Zhou, Yuxin Yao, Joan Lasenby, Shangzhe Wu

Graphics · Cross-listed from cs.AI

Not All Experience Belongs in the Weights: Component Routing for Self-Improving GUI Agents

Beining Wu, Zihao Ding and Jun Huang

Self-improving GUI agents keep the trajectories they produce and return them to the agent, by fine-tuning or by retrieval into the prompt, and studies that compare the two destinations disagree. We attribute this to the unit of experience: a trajectory bundles items with different properties, so a conclusion about the bundle depends on its mix. To address this, (i) we introduce component routing, which splits the experience into locators, procedures, state facts and lessons and sends each component to the context or to the weights, compared on the same items across three backbone families, two environments and three seeds. One pool has two destinations: locators and lessons win in the weights, procedures and state facts in the context. (ii) We fit a rule in two properties measured before any training, recurrence and state-conditionality; it recovers the destination of a held-out backbone family in 24 of 24 cells, two interventions move a component toward the boundary, and routing by the rule beats every whole-trajectory baseline and, by +3.5 points on average, the better single destination of each backbone. (iii) We identify how training and producer-consumer differences change the value of the two destinations: note readout decreases after the same component is written into the weights, most for the items that recur most, context gains increase with the information gap, and weights gains decrease with the policy gap. Code and data will be released.
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Wednesday 30 September

Graphics · Cross-listed from cs.CV

What Builds the Scene? Luminance Dominates Geometry Formation in 3D Gaussian Splatting

Rezvan Joshaghani and Steven Cutchin

Standard 3D Gaussian Splatting (3DGS) learns geometry and appearance jointly from RGB supervision, making it difficult to isolate how luminance and chroma contribute to the learned representation. We study this by training models under different channel supervision, freezing their non-appearance parameters (position, scale, rotation, and opacity), and re-estimating appearance with the same solver before comparing held-out reconstruction. Across eleven benchmark scenes with four independent runs each, geometry learned from luminance alone supports held-out reconstruction 0.085 dB below RGB-trained geometry on average. If chroma is deleted from a trained model, a sufficiently expressive solver can re-fit it on the frozen geometry to the original quality or slightly better. Higher-order spherical harmonics contribute much more reconstruction quality to luminance than to chroma, improving PSNR by 1.44 dB versus 0.19 dB on average, although on mirror-like surfaces hue does still change with viewpoint. The luminance advantage is even larger when geometry is being formed. Chroma-only supervision produces geometry 3.9-5.5 dB worse than luminance-only supervision after the same appearance solve; densification explains part of this gap. Overall, geometry formation in standard 3DGS is strongly luminance-dominated but not luminance-exclusive, and much of the chromatic appearance can be recovered after spatial support has formed.
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Graphics

Dirichlet Splatting: Differentiable Rendering for Wave-Based Inverse Problems

Xingyu Chen, Wuqiong Zhao, Xinyu Zhang et al. (+1 more)

Wave-based coherent imaging, including terahertz tomography, synthetic-aperture acoustics, and millimeter-wave radar, forms images by Fourier-processing finite-length signals, with an exact point spread function that is not Gaussian but a Dirichlet kernel: complex-valued, oscillatory, and periodic. However, transplanting 3D Gaussian splatting to coherent sensing fails by construction; Gaussian splats discard the sidelobe energy (10-20% of the total) and the phase that governs coherent interference between reflectors. Our key idea is to replace the learned Gaussian footprint with the physically exact Dirichlet kernel of the finite-window DFT, modulated by a surfel that carries area, normal, and material, so that the rendering primitive matches the measurement physics instead of approximating it. We pair this primitive with a specialized solver, Dirichlet Sliding Frank-Wolfe (DSFW), that combines variable projection, residual dual certificates, and certificate-driven hard replacement of low-utility surfels, with periodic low-resolution coupled Levenberg-Marquardt correction, navigating the rugged loss landscape that breaks generic first-order optimizers. The Dirichlet kernel admits an O(1) closed-form evaluation, so the forward model matches FFT ground truth to machine precision while remaining differentiable end-to-end. On dense terahertz reconstruction, our method recovers reflector centers to 0.018 bin RMSE, 10-50x faster than waveform-level automatic differentiation, where Gaussian splats fail.
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All authors Xingyu Chen, Wuqiong Zhao, Xinyu Zhang, Tzu-Mao Li

Graphics · Cross-listed from cs.AI

Frozen Scenes, Shifting Winners: Configuration Fragility in Text-to-3D Evaluation

Anson Y. Lam, Shuqing Li and Michael R. Lyu

Can a text-to-3D leaderboard change when every generated scene stays fixed? We audit this question for rendered-image evaluation, where camera settings and caption wording become part of the measurement protocol. Across 300 frozen scenes from six generators, we vary eight render and caption factors for 19 alignment evaluators plus one perceptual-quality control, then test four targeted scene degradations. Peak configuration variance exceeds between-generator variance for 17/19 alignment evaluators, with prompt-bootstrap lower bounds above 1 for 11/19. Rankings are more stable than scores, yet 18/19 evaluators change their point-estimate winner under some configuration. Pairwise protocol margin envelopes show which comparisons keep their direction across the tested settings. Selected pairs have opposite pointwise intervals, but no reversal survives simultaneous inference over the full search. Thus the observed winner changes are descriptive, not confirmed changes in generator superiority. Sensitivity remains separate: no evaluator, even the prompt-free control, exceeds 67% tie-adjusted directional discrimination on layout scrambling, which is diagnostic rather than human-validated ground truth. The audit separates score stability, decision uncertainty, and targeted sensitivity, and recommends reporting (generator, score, card ID) with protocol-dependent comparisons and selection-aware uncertainty.
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Graphics · Cross-listed from cs.HC

Faithful Chart Generation for Multimodal Deep Research: Frame-Evidence Co-Adaptation

Yuxin Yue, Yingchen Zhang, Ruqing Zhang et al. (+3 more)

Analytical charts in multimodal deep research encode quantitative claims, requiring every visualized value to be faithfully grounded in supporting evidence. Unlike retrieved images that mainly provide contextual information, charts require numerical fidelity: visualized values should not only match retrieved evidence quantitatively but also preserve its original meaning and scope. However, achieving such fidelity remains challenging because current systems usually construct visualization plans before knowing what quantitative evidence can actually be retrieved from the web. As a result, predefined plans may require entities, temporal ranges, or comparison dimensions that the retrieved evidence only partially supports. Existing approaches mainly address this issue through post-hoc verification after chart plans are fixed, enabling unsupported values to be identified but leaving the underlying visual frames unchanged. To address this challenge, we propose Frame-Evidence Co-Adaptation (FECA), an evidence-adaptive visual planning framework for multimodal deep research. Inspired by the bidirectional sensemaking process in Data-Frame Theory, FECA models chart generation as an iterative interaction between visual frames and retrieved evidence. Each visual frame is adaptive: the frame guides evidence acquisition, while retrieved evidence determines whether the frame should be accepted, revised, or dropped before rendering. By coupling visualization planning with evidence availability, FECA shifts chart generation from fixed-plan verification to adaptive evidence-grounded visual reasoning. Experiments on 100 real-world research topics show that FECA substantially improves numerical fidelity while preserving report quality and chart utility.
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All authors Yuxin Yue, Yingchen Zhang, Ruqing Zhang, Jiafeng Guo, Maarten de Rijke, Xueqi Cheng

Graphics

Diffusion Editing with Soft Mask: Pixel Level Redo of Image and Video with Adjustable Strength

Candi Zheng and Yuan Lan

Diffusion models with prompt and reference image-guided editing have seen rapid progress, yet they remain too coarse for pixel-level control. One promising direction is to incorporate a soft mask that specifies spatially varying edit strengths but training such fine-grained control demands expensive pixel-wise annotations, while existing zero-shot methods often yield unsatisfactory results. We introduce SoftPaint, a new zero-shot sampling method that leverages soft masks to enable a continuous spectrum of edits, from fully preserving the original content to completely re-synthesizing the masked region. Going beyond zero-shot inpainting methods, we design a Langevin-iteration-based sampler that respects per-pixel soft mask strengths, which applies universally to image and video diffusion models, enabling tasks such as video editing. The method is gradient-free, memory-efficient, and achieves smooth, pixel-level edits across multiple image and video backbones.
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Graphics · Cross-listed from cs.CV

Lens Flare Removal and Reconstruction

Tarun Yenamandra, Jonathon Luiten, Daniel Cremers et al. (+1 more)

The presence of lens flares in images can significantly reduce the quality of downstream application results for tasks such as 3D scene reconstruction. This is because lens flares are a property of the camera imaging system, and not a part of the underlying scene being modeled. There are previous methods that tackle the removal of small flares focused around a light source. However, existing methods struggle with large flares, such as those that fill the entire image. In this work, we compile a novel dataset for large-flare removal, combining publicly available real-world data with a procedural generation pipeline. We fine-tune a diffusion-based model on our dataset to remove complex, large lens flares. On the other hand, lens flares remain effective artistic tools, widely used in the media. While there are ways to simulate 2D flares, representing and reconstructing lens flares consistently across multiple views has not yet been explored. To achieve this, we introduce a flare representation model that leverages the symmetry of lens flares about the camera's principal point. We propose a computational pipeline to jointly optimize this flare model and a Gaussian splatting model (3DGS). This enables the decomposition of a 3D scene into lens flares and the scene itself, using our flare-removal model. Because the reconstructed flare is explicit and re-renderable, it can be edited and transferred to novel images and new 3D scenes. We evaluate removal on an established benchmark and a new one for large reflective flares, quantify the flare/scene decomposition directly, and show that the pipeline is robust to errors in automatic light-source localization.
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All authors Tarun Yenamandra, Jonathon Luiten, Daniel Cremers, Nathan Matsuda

Tuesday 29 September

Graphics

Gaussian Stippling: Efficient Sorting-Free 3D Gaussian Rendering through Hybrid Sampling and Spatiotemporal Reconstruction

Zijian Huang, Suiliang Mai, Chuankun Zheng et al. (+2 more)

Conventional 3D Gaussian Splatting (3DGS) requires depth sorting and ordered alpha blending to correctly render overlapping Gaussian primitives. Stochastic transparency enables sorting-free rendering by replacing fractional alpha contributions with discrete stochastic visibility samples, but produces substantial spatial and temporal noise at low sample counts. We refer to this conversion from continuous Gaussian splats to discrete visibility samples as Gaussian Stippling. Based on this, we present an efficient order-independent rendering and reconstruction framework that operates directly on unmodified 3DGS assets. Our method adaptively integrates primitive-based and fragment-based stippling, leveraging their complementary strengths across different rendering regimes to significantly improve rendering throughput. To recover high-quality images from sparse stochastic samples, we further introduce a lightweight Gaussian-aware spatiotemporal reconstruction network. By exploiting the Gaussian attributes retained by each stipple, the network aggregates structured stochastic clues across both space and time, effectively suppressing stippling noise. Experiments show that our hybrid Gaussian stippling method, coupled with a spatiotemporal reconstruction network trained on diverse scenes, generalizes to unseen scenes and enables interactive, temporally stable, and visually plausible rendering on mobile devices without retraining or preprocessing. With scene-specific training and appropriately scaled sampling and network capacity, our method further outperforms the baselines in visual quality, offering a high-fidelity configuration for quality-prioritized applications.
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All authors Zijian Huang, Suiliang Mai, Chuankun Zheng, Yuan Meng, Yuchi Huo

Graphics · Cross-listed from cs.CV

Strike a Chord! Modal Kinetic Typography

Maham Tanveer, Jiyeon Han, Nanxuan Zhao et al. (+1 more)

We introduce modal kinetic typography, which animates a vector glyph to express a semantic concept while keeping it legible. Our key idea is to build motion from the glyph's natural vibration modes. Specifically, a finite-element eigenproblem assembled from the vector outline yields the glyph's softest modes, for the whole letter and for each of its parts, allowing it to bend. The problem's zero-energy solutions, i.e., rigid translations and rotations, are applied in closed form to each part, allowing parts to also move as blocks. To animate the glyph, a frozen video diffusion model supervises only the modes' amplitudes and phases. Our modal approach addresses two weaknesses of prior work. Free-form point optimization under video score distillation (SDS) moves each point and frame independently along noisy gradients, tearing the outline and causing jitter. In contrast, our modes are smooth along the outline and driven by a few whole-cycle harmonics, which restricts these gradients to smooth, seamlessly looping motion. On the other hand, structured alternatives rely on skeletons or keypoints from category-specific priors, whereas our modes come from the glyph itself; the only prior is a list naming each letter's moving parts, generated once for the whole alphabet by a language model. In modal kinetic typography, shape and motion are disentangled by construction: a single base outline is sculpted toward the concept, and the modal drive cannot alter it, so a letter can also be animated without being reshaped. Our method produces more articulated and smoother motion than Dynamic Typography and AniClipart at comparable or better concept alignment, with less glyph tearing than Dynamic Typography, and is preferred by human raters, including in a frozen-shape setting where motion alone must carry the concept. Our results were also preferred over Astra (GPT-6) by human raters.
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All authors Maham Tanveer, Jiyeon Han, Nanxuan Zhao, Hao Zhang

Graphics · Cross-listed from cs.RO

Counterfactual Video Generation Enables Scalable Humanoid Loco-Manipulation

Zihan Wang, Zhen Wu, Pieter Abbeel et al. (+6 more)

Teaching humanoids loco-manipulation skills, such as carrying diverse objects, via visual imitation is a promising path toward generalist robots. However, collecting diverse, high-quality interaction videos, such as clips that clearly show a person's full body and unoccluded interactions with objects, poses a practical barrier to scaling this approach. We propose PRISM, a real-to-sim-to-real framework that overcomes this limitation by amplifying a handful of real videos into a large, diverse training set. PRISM first generates hundreds of diverse "counterfactual" human-object interaction videos via video-to-video (V2V) generation from a few exemplar real videos. Our contact-anchored real-to-sim pipeline then reconstructs both human and object motions, retargeting this imperfect video data into physically plausible trajectories. The intra-class variability across these counterfactual videos lets us train a single policy that generalizes to unseen objects within each category. We demonstrate the full pipeline by deploying this policy on a real robot without any real-world fine-tuning. Using only onboard depth observations, our humanoid picks up, carries, and drops objects, including boxes, barrels, bins, and balls, across novel instances, sizes, and initial configurations.
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All authors Zihan Wang, Zhen Wu, Pieter Abbeel, Rocky Duan, Jitendra Malik, Carmelo Sferrazza, C. Karen Liu, Guanya Shi, Angjoo Kanazawa

Graphics · Cross-listed from cs.CV

Texture Space Material Diffusion

Jacob Munkberg, Peter Kocsis and Jon Hasselgren

We present a method for generating high quality materials for 3D objects entirely in texture space. We finetune a video diffusion transformer for text-guided material generation, multi-view material generation, and material upscaling. Our key insight is to use the known projection from image space to texture space, enabling the diffusion process to generalize across arbitrary geometries and texture parameterizations. This approach also avoids the view consistency issues inherent in video and multi-view diffusion models. Because texture space is two dimensional, we can reuse the strong priors of pretrained video diffusion models. We apply our method to high quality material reconstruction from posed photos captured under unknown lighting, as well as to text- and image guided material generation. Our method can scale to high resolutions (8K), 100+ input views, and neural material representations. In quantitative and qualitative evaluations we show state-of-the-art results for material generation and reconstruction.
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Graphics · Cross-listed from cs.CV

The Domain Is a Residue: Adapting Self-Supervised Features, Not Generators

Thomas Deixelberger and Markus Steinberger

Clearing fog, rain or snow from footage, or turning renders into photographs, must remove the source domain and keep the scene. Unpaired translators carry it through because their generator sees the source appearance (pixels, a near-invertible latent or a control map) and keeps it. A DINO feature map fixes what is in the scene and carries weather, lighting and rendering style as a residue of 13 to 14% of the feature norm. We propose the Representation Feature Adapter (RFA), a 2.9M-parameter network that moves this residue. We train only the adapter and its discriminators; the encoder and a feature-conditioned decoder, trained once for all conditions, stay frozen. Against CycleGAN-Turbo it is ahead on both metrics on fog and on KID on night, and level within noise on snow, rain and haze. On sim-to-real it leads REGEN and HyPER-GAN on both metrics. Only the RFA removes the rain while keeping the scene. The removal costs scene structure: CycleGAN-Turbo keeps more on every condition but fog. On VAE latents the identical adapter collapses to the identity, and decoders from other groups that never saw it render its output. The RFA has about 160 times fewer trainable parameters than CycleGAN-Turbo and under a fifth of its per-condition training time.
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Graphics

Length-varying Neural Motion Stitching via Cluster Transition Graph

Haemin Kim, Junghyun Nam, Seokhyeon Hong et al. (+2 more)

Motion stitching aims to create new character animations by seamlessly combining existing motion sequences. Existing approaches often require manual selection of transition range or assume fixed transition length, restricting the types of motions that can be connected. To broaden the diversity of motions that can be synthesized, it is essential to generate transitions of varying lengths, allowing the character sufficient time to adapt its pose when the input motions differ significantly. To this end, we propose a length-varying neural motion stitching method based on a cluster transition graph, which produces naturally connected motion sequences given two distinct input motions. Our framework consists of three stages: motion clustering, cluster pathfinding, and motion generation. First, motion clustering maps input motions to discrete clusters. Next, we identify the corresponding clusters in the cluster transition graph and search for a connecting path. In this graph, nodes represent motion clusters, and directed edges indicate valid transitions between them. The resulting path determines both the transition length and a guide sequence that informs motion generation. Finally, the path and input motions are provided to a Transformer encoder-based motion generator to produce the final transition poses. Experimental results demonstrate that our method adaptively adjusts the motion length and successfully generates plausible transitions between distinct motions, such as crawling, basketball shooting, and slow locomotion. We also show that using a graph structure effectively estimates transition durations and produces high-fidelity results compared to methods that assume a fixed transition length, or directly compute the time.
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All authors Haemin Kim, Junghyun Nam, Seokhyeon Hong, Vanessa Tan, Junyong Noh

Graphics · Cross-listed from cs.CV

MSTypography: Multi-character Semantic Typography via Balancing Word Legibility and Object Recognizability

Xinye Yang, Xinding Zhu, Kai Fang et al. (+4 more)

Semantic typography is a design technique where the visual representation of a word conveys its semantic meaning, while maintaining its legibility. Existing digital typography methods mainly focus on single-character scenarios. They suffer from a lack of legibility constraints and insufficient local deformation when extended to multi-character words, as the intricate structures among multiple characters are hardly preserved during the typography process. In this paper, we propose a global-to-local typography framework for multi-character scenarios. It performs mask-driven silhouette approximation at the global level, while semantic-guided refinement at the local level, with a culling step in between to improve efficiency. To preserve word legibility, we designed structural losses (including explicit collision constraints and implicit Jacobian singular value constraints) and an OCR constraint for character-level readability. To enhance the object recognizability, we leverage semantic guidance with diffusion priors, which drives the character glyph toward the target concept while preserving its structural integrity. To the best of our knowledge, this is the first multi-character semantic typography method that effectively balances word legibility and object recognizability. Evaluations on five representative languages (English, Chinese, Japanese, Korean, Arabic) demonstrate superiority over SOTA methods. Codes will be open-sourced.
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All authors Xinye Yang, Xinding Zhu, Kai Fang, Xinyi Ren, Mengjian Li, Bin Cao, Jiazhou Chen

Graphics · Cross-listed from cs.CV

NRF-GS: Neural Residual Fields for Expressive and Compact Gaussian Splatting

Pratik Singh Bisht and Andreas Kolb

We revisit the role of appearance modeling in 3D Gaussian Splatting (3DGS) and show that limited expressiveness in view-dependent reflectance is a key driver of representation redundancy. In standard 3DGS, low-order spherical harmonics (SH) are used, restricting the splats' ability to model high-frequency directional effects, which is typically compensated by increasing the number of splats. We propose NRF-GS: Neural Residual Fields for Gaussian Splatting, a hybrid representation that replaces per-splat SH-bases with a shared neural residual field. Each Gaussian encodes a compact set of appearance features and a lambertian base color, while a lightweight global scene-level MLP predicts view-dependent residuals conditioned on viewing direction, distance, and per-splat features. This formulation enhances directional reflectance modeling by combining diffuse per-splat reflectance representations with a shared global function for high-frequency details, enabling both higher expressiveness and parameter sharing across splats. Our key insight is that by accurately capturing high-frequency directional reflectance, especially in specular regions, the GS-representation becomes more expressive, reducing the need for geometrically redundant splats. As a result, NRF-GS achieves comparable or better rendering quality while reducing the number of Gaussians by up to 50%, and produces visibly improved specular and high-frequency details.
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Graphics

Volcanite: Commodity-Hardware Segmentation Volume Visualization for Connectomics and Beyond

Max Piochowiak, Reiner Dolp, Julian Herold et al. (+3 more)

Modern imaging produces terabyte-scale segmentation volumes, assigning each voxel an object label. These categorical, boundary-sensitive and label-rich data underpin connectomics and other imaging-driven fields, yet their scale often forces interpretation through slices, approximate meshes or distributed workflows that obscure spatial context and voxel-level defects. Here we show that such volumes can be explored directly on commodity hardware with Volcanite, an open-source framework for dense-segmentation rendering. Combining compression-aware data handling, a Vulkan GPU backend and segmentation-specific rendering, Volcanite enables low-latency exploration without meshing or distributed infrastructure, including for unpublished, sensitive or proprietary data. Across multi-domain datasets, it preserves voxel labels, adds shadows and global illumination, and renders up to half a trillion voxels at 100 frames per second. By replacing lengthy preprocessing with direct inspection, Volcanite decouples hypothesis generation from data preparation and turns teravoxel label fields into interactive evidence for discovery, validation and cross-domain spatial analysis
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All authors Max Piochowiak, Reiner Dolp, Julian Herold, Eric Behle, Carsten Dachsbacher, Alexander Schug

Graphics · Cross-listed from cs.RO

DRHeC: Differentiable Rendering for Hand-Eye Calibration with RGB-Based Gradients

Xiaotian Zhang, Yusheng Wang, Naoya Kagawa et al. (+4 more)

Accurate hand-eye calibration is crucial for precision manipulation. Traditional methods rely on markers, with their precision dependent on marker accuracy and observability. In contrast, markerless methods, such as learning-based approaches, use deep neural networks to directly extract keypoints or features from images, enabling the computation of hand-eye transformation with a single image and without the need for physical markers. Recently, differentiable rendering-based methods for hand-eye calibration have leveraged physical models to render binary masks and compare them with observations, enabling hand-eye calibration without fiducial markers in the calibration stage and providing interpretable optimization. While the state-of-the-art differentiable rendering methods achieve remarkable accuracy, the use of binary masks can result in the loss of internal profile details, reducing precision. Additionally, these methods can also suffer from unstable optimization and local minima. In this study, we propose a novel RGB-based differentiable rendering framework that provides richer geometric and appearance cues by incorporating color and mask geometric features, thereby improving calibration accuracy and optimization stability. Additionally, we propose a mask-guided image-to-image translation method to ensure explicit preservation of color and geometric consistency throughout the translation. Our approach is validated through both simulation and real-world experiments, with results demonstrating strong accuracy and robustness and clear improvements over existing differentiable rendering methods. Our method achieves a grasping success rate of 88.9% and insertion success rate of 57.4% on the UR5e real-world experiment, outperforming the state-of-the-art differentiable rendering hand-eye calibration method EasyHeC by 46.3 and 48.1 percentage points, respectively.
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All authors Xiaotian Zhang, Yusheng Wang, Naoya Kagawa, Noritaka Takamura, Keiji Okuhara, Hiroyasu Baba, Jun Ota

Graphics

Text2Sim: Agentic Physics-Based Simulation Generation with Distilled Expertise

Xiaoyu Xiong, Tsun-Hsuan Wang, Yi-Ling Qiao et al. (+2 more)

Creating diverse physical simulations remains labor-intensive because assets, layout, physical parameters, motion, control, and rendering must be designed and debugged jointly. We present Text2Sim, a simulation-specialized agentic pipeline that converts a text-only request into an executable, editable dynamic case. Built on Genesis, Text2Sim uses a hierarchical agentic structure that combines a Planner with specialized Writers, asset-generation tools, and an independent Critic. Compact skills (Debug Cards) distilled from graphics demonstrations provide role-specific physical guidance for execution-based repair. We evaluate physical quality, visual quality, and human preference on 42 held-out prompts spanning rigid, articulated, deformable, and cloth phenomena, with a paper-level split between experience construction and evaluation. We design automatic physical and visual scorers to evaluate the quality of the results, and Text2Sim achieves higher scores than all four state-of-the-art baselines on both metrics. In blinded user studies with these baselines, significantly more participants prefer Text2Sim than prefer the baselines, which is consistent with the results from our automatic scorers. The pipeline also supports a broad range of downstream applications; we select dataset construction and extension to multimodal input as two representative examples. We will release the code, the Debug Card library, and a dataset of generated cases, each pairing the text prompt and rendered video with the executable program, assets, physical parameters, controls, and recorded states.
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All authors Xiaoyu Xiong, Tsun-Hsuan Wang, Yi-Ling Qiao, Tao Du, Minchen Li

Monday 28 September

Graphics

Decoupling Appearance and Geometry in Diffusion World Models

Rajit Rajpal

We study the problem of learning diffusion-based world models that jointly capture scene geometry and visual appearance in complex first-person environments. Existing approaches typically train a single action-conditioned model that predicts future RGB frames, but they either ignore geometry or require action supervision for all modalities, limiting scalability to large unlabeled video datasets. In this work, we introduce a two-stage diffusion world model that separates geometric and appearance prediction while maintaining joint temporal coherence. Our key idea is a staggered RGB-depth formulation: depth at time $t+1$ is predicted first using an action-conditioned diffusion transformer, and the RGB frame at the same timestep is then generated conditioned on this predicted depth using a second diffusion model without action inputs. We show that this decoupled design faithfully approximates a hypothetical joint RGBD diffusion model trained with diffusion forcing, enabling the second stage to be trained or fine-tuned on additional RGB-depth data without requiring action labels. Experiments on the CS:GO Dust 2 dataset demonstrate that our approach improves both depth accuracy and RGB fidelity compared to fully joint models and RGB-only baselines, while significantly enhancing scalability to augmented or unlabeled datasets. Our results highlight the effectiveness of geometry-guided diffusion for world modeling and open a path toward large-scale action-free video model training. Code to be released upon acceptance of paper.
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Providing Rapid Design Feedback for 3D Obstacle Course Games Using Constrained Solvability Queries

Zander Majercik, Sharon Zhang, William Wang et al. (+6 more)

We present a system that aids the design of 3D obstacle course games by providing designers with rapid feedback on how obstacles can be solved. Our core contribution is a system for querying for solutions (sequences of player actions) to an obstacle that adhere to designer-specified constraints (e.g., avoid a region, travel through a given waypoint, only perform two jumps, etc.). To solve a wide range of obstacle designs quickly, we author a high-performance implementation of the GoExplore algorithm for exploratory search, and guide search with an obstacle solving agent trained offline using reinforcement learning (RL). To further accelerate search, the system carries out exploration using a custom GPU-accelerated obstacle course game simulator that generates playthrough experience at nearly 14,000$\times$ real time, 60-fps gameplay. Through design studies, we demonstrate that the use of constrained solvability queries in a rapid design loop is sufficiently expressive to help designers understand ways an obstacle can be solved or why it cannot be solved. We also show how the tool can let designers answer higher-level questions such as identifying undesirable solution paths and assessing the difficulty of solutions. This allows them to pursue new design directions they did not originally anticipate. Human playtesting of obstacles designed using our system confirms that human players indeed play the obstacles in the manner the designers intended. We release code for our interactive tool, simulator, training setup, and procedural level generation system at https://zandermajercik.github.io/interactive-obstacle-course-feedback/.
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All authors Zander Majercik, Sharon Zhang, William Wang, Tejan Karmali, Fangjun Zhou, Yucheng Yuan, Jean-Peïc Chou, Maneesh Agrawala, Kayvon Fatahalian

Graphics · Cross-listed from cs.CV

CoDimRecon: Agentic Reconstruction of Sim-Ready 3D Scenes with Deformable Curves, Surfaces, and Volumes

Shuzhao Xie, Lelin Wang, Guying Lin et al. (+2 more)

Reconstructing simulation-ready 3D scenes from real-world observations enables robotics, gaming, and immersive applications, yet existing methods largely assume rigid objects. This leaves an important gap for deformables, whose simulation-ready geometry depends on dimensionality (curves, surfaces, or volumes) and whose behavior may require models beyond elasticity. We present CoDimRecon, an agentic framework that reconstructs editable scenes containing rigid, articulated, and deformable objects from multi-view RGB observations. Scene-level geometric priors ground scale and layout, while object-level generated meshes guide the agent toward detailed, compact geometry; articulated rigid objects are decomposed into movable parts with explicit joints. For deformables, category-wise agent sessions reconstruct curves as centerlines with radii, surfaces as manifold shells with thickness, and volumes as watertight solids for volumetric meshing. Reusable simulator skills initialize compatible physical models and parameters, while agent-guided behavioral tests expose mismatches and trigger targeted revisions of motion, geometry, numerics, or material modeling. On evaluated Replica and ScanNet++ scenes, CoDimRecon achieves competitive compositional reconstruction accuracy while additionally producing deformable assets for rod, shell, and solid simulation. We further demonstrate robot interactions across all three representations, including a controlled paper-folding case in which behavioral testing motivates plastic bending.
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All authors Shuzhao Xie, Lelin Wang, Guying Lin, Zhi Wang, Minchen Li

Graphics · Cross-listed from cs.CV

FurE: Efficient Instance-Specific 3D Fur Reconstruction without Animal-Fur Datasets

Srinjay Sarkar, Prakhar Kaushik, Soumava Paul et al. (+1 more)

Realistic and editable animal fur reconstruction from multi-view images is challenging due to fine-scale detail, self-occlusion and obfuscation, and, unlike human hair, the lack of animal-fur datasets. Fur usually covers most of an animal's body, with large inter-species and intra-species variability. We present FurE, an efficient strand-based animal fur reconstruction method that recovers a per-strand, editable groom by optimizing a root-conditioned latent field, decoded into strand geometry via a PCA-based decoder. We reconstruct a defurred animal body using local fur-thickness cues from a surface-constrained Gaussian Frosting representation together with part-based priors. We further show that a PCA-based decoder learned from human-hair strand data can alleviate animal-data scarcity while enabling substantially faster optimization. FurE achieves a 10x speedup in strand training over current SOTA dense per-strand optimization while retaining strand fidelity and generalizing across synthetic and real-world sequences, with quantitative and qualitative validation despite the reduction in training time.
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All authors Srinjay Sarkar, Prakhar Kaushik, Soumava Paul, Alan Yuille

Graphics · Cross-listed from cs.AI

A.D.A.M.O. (Agent for language-Driven Actions with Multimodal Observations): A Visual-Symbolic Framework for Virtual Humans

Alessandro Emmanuel Pecora, Stefano Calzolari, Francesco Strada et al. (+1 more)

Creating believable vh requires the coherent integration of perception, reasoning, and action mediated by language. A central challenge is to combine these components into a control loop grounded in interactive 3D environments. To this end, we present A.D.A.M.O. (Agent for language-Driven Actions with Multimodal Observations), a visual-symbolic framework for language-driven vh that leverages a pretrained vlm with tool calling to unify perception, reasoning, and action within a single control loop. A.D.A.M.O. maintains a dual visual-symbolic world model that combines egocentric visual input and synchronized symbolic state to support grounded task-oriented behavior from natural language prompts. To support diagnostic evaluation, we introduce a controlled task suite organized by a cd taxonomy that breaks down spatial tasks into procedural and linguistic complexity. Experiments in controlled scenes show that semantic labeling strongly influences task completion and failure modes, reducing perceptual ambiguity while shifting failures toward downstream execution, whereas reasoning errors remain comparatively rare.
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All authors Alessandro Emmanuel Pecora, Stefano Calzolari, Francesco Strada, Andrea Bottino

Graphics · Cross-listed from cs.CV

RRG-SLAM: Real-time Reflection-aware Gaussian SLAM for Indoor Scenes

Yong Liu, Keyang Ye, Zhexi Peng et al. (+3 more)

We introduce the first real-time reflection-aware Gaussian SLAM system for indoor scenes. The system features a reflection-aware TSDF-Gaussian hybrid representation that explicitly separates diffuse scene appearance from reflection components. The base scene is modeled by a TSDF volume and a set of base Gaussians capturing geometry and diffuse appearance, while planar reflections are represented by reflection Gaussian groups associated with detected reflective planes. The rendering is performed in three passes: TSDF raycasting first yields surface color, depth, plane IDs and reflection masks; base Gaussians are then rendered order-independently with depth culling and combined with the TSDF output to form the base image; finally, under the guidance of the plane ID map, reflection Gaussians from different reflection groups are rasterized only into their corresponding planar regions to generate the reflection image, which is subsequently composited with the base image via the reflection mask to produce the final output. For online reconstruction, our system first estimates the camera pose through reflection-aware tracking to suppress interference of reflection-dominated regions. It then identifies reflective planes using geometric, semantic, and temporal cues, and fuses the observations into the augmented TSDF volume with reflection-aware attributes. Afterwards the base and reflection Gaussians are initialized, optimized, and pruned online to maintain both reconstruction quality and efficiency. Experiments on a variety of datasets show that our method outperforms existing SLAM systems in reconstruction quality, tracking robustness, and novel-view rendering for indoor environments with reflections, while preserving real-time performance.
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All authors Yong Liu, Keyang Ye, Zhexi Peng, Ruixian Mei, Kun Zhou, Tianjia Shao

Sunday 27 September

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GaussianBench: Physics-Fidelity Evaluation for Gaussian Scene Representations

Chukwudalu Dumebi-Kachikwu

3D Gaussian Splatting has evolved from static reconstruction toward physics-integrated representations meant to predict how scenes change under interaction. This creates an evaluation problem: a rollout can look plausible while relying on incorrect internal mechanics, and visual agreement with observed motion does not establish a correct response to a new force, material edit, contact, or thermal intervention. We introduce GaussianBench, a physics-fidelity evaluation suite for physics-integrated Gaussian scene representations. It uses frozen file-based scenes, simulator-independent scorers, and analytical or measured references. The benchmark tests conservation, continuum response, heterogeneous-material coupling, Gaussian covariance transport and rendering, thermal phase change, and counterfactual response. Each reference declares its regime of validity, and outcomes distinguish PASS, FAIL, NA, and INVALID, separating physical failures from unsupported capabilities and invalid comparisons. We also provide GaussianFlesh, a thermomechanical reference entrant in which persistent 3D Gaussians act as both rendering primitives and continuum material points, advanced by a shared-grid MPM solver with per-particle constitutive dispatch and persistent thermal and phase state. We evaluate six released external systems: PhysGaussian, GaussianFluent, OmniPhysGS, PhysDreamer, Physics3D, and GASP. Testing every system the same way reveals failures that their original evaluations missed: a system can simulate a single material correctly but fail where two materials meet, or update its Gaussians correctly for a deformation it never produced. Matched faults and tolerance audits confirm these distinctions arise from the intended tests. Physics-integrated Gaussian systems must therefore be tested on their internal physical state, not just on whether their rollouts look plausible.
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Plate-Local River Generation: Deterministic, Terrain-Aware, Downhill-Flowing Rivers for Infinite Procedural Worlds

Michael K. Davis III

Existing procedural terrain generation methods produce coherent, downhill-flowing river networks only on fixed domains, whereas approaches that extend to infinite worlds typically sacrifice network coherence or downhill-flow guarantees. This work presents a deterministic, terrain-aware, downhill-flowing river algorithm for infinite procedural worlds. Tectonic plate seeds define both continuous terrain fields and corresponding bounded Voronoi-like plate domains, so localized river preprocessing can operate directly on the geometric domain without sampling terrain fields for the purpose of locating plate boundaries. Within each plate, the terrain field is sampled on a low-resolution grid, and rivers are traced downhill from highland source nodes to coastlines, local minima, or existing confluences. River heights are then monotonically adjusted along each path so that every stored segment descends. The resulting river network is generated and cached lazily per plate, so each plate is processed independently of its neighbors. During full-resolution terrain sampling, the distance to the cached river network is computed exactly, and river height is interpolated along nearby segments and blended with the locally evaluated terrain on demand, without caching the blended result itself. Because the warp of the plate borders is bounded below the river border margin, this guarantees downhill flow along every river channel of the final terrain. Together, these design choices make terrain-aware river generation practical for interactive procedural worlds by supporting efficient on-demand evaluation, as demonstrated by the performance analysis presented in this work.
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