AGORA is a new framework that extends 3D Gaussian Splatting with a generative adversarial network to produce high‑fidelity, animatable 3D head avatars. It introduces a lightweight FLAME‑conditioned deformation branch that predicts per‑Gaussian residuals for identity‑preserving, fine‑grained expression control, and a dual‑discriminator training scheme that enforces expression fidelity. The system achieves real‑time inference at 250 FPS on a single GPU and, for the first time, CPU‑only animatable 3DGS avatar synthesis at ~9 FPS.
By Ramazan Fazylov, Sergey Zagoruyko, Aleksandr Parkin, Stamatis Lefkimmiatis, Ivan Laptev
arXiv:2603.09632v5 Announce Type: replace-cross
Abstract: 3D Gaussian Splatting (3DGS) has emerged as a powerful technique for novel view synthesis, subsequently extending into numerous spatial AI ap...
By Yueen Ma, Zenglin Xu, Irwin King
NavGen introduces a text-to-video data generation pipeline that creates about 400K vision‑language navigation episodes for both indoor and outdoor scenes, using high‑fidelity visual generative models. The approach includes a style‑diversification method to scale up rare, hard‑to‑collect data. Models trained on NavGen data outperform those trained on existing UAV navigation datasets and achieve a 75% success rate in real‑world flying experiments.
By Xijie Huang, Yongyang Wan, Chengbin Dong, Zimo Ding, Mo Zhu, Yijin Wang, Zhiyang Liu, Fei Gao, Yuze Wu, Xin Zhou
DGSG-Mind introduces a hybrid instance-aware 3D Gaussian dynamic scene graph system that integrates open‑vocabulary semantic information into dynamic 3D scene representations. By coupling a probabilistic voxel grid with explicit 3D Gaussians, it achieves robust cross‑modal instance fusion, incremental semantic mapping, and dynamic change handling through Gaussian‑based relocalization and masked refinement. The system builds a hierarchical scene graph and a 3D Gaussian Mind for multimodal reasoning, achieving state‑of‑the‑art zero‑shot 3D visual grounding and strong performance in open‑vocabulary semantic segmentation and scene reconstruction, and is demonstrated on real‑world robots.
By Luzhou Ge, Xiangyu Zhu, Jinyan Liu, Xuesong Li
arXiv:2609.26795v1 Announce Type: cross
Abstract: 3D Gaussian Splatting (3DGS) can reconstruct a captured scene photorealistically, but the resulting representation does not by itself support physica...
By Runyi Yang, Deheng Zhang, Xiaoye Wang, Kanzhi Wu, Lei Sun, Ajad Chhatkuli, Kunyu Peng, Luc Van Gool, Danda Pani Paudel
3D Gaussian Splatting (3DGS) can reconstruct a captured scene photorealistically, but the resulting representation does not by itself support physical interaction. Robot simulation instead requires ob...
arXiv:2608. 19900v1 Announce Type: new Abstract: For full-body avatars, modeling surface dynamics is crucial for overcoming the uncanny valley and achieving perceptual realism.
By Guoxing Sun, Heming Zhu, Linjie Lyu, Pascal Fua, Christian Theobalt, Marc Habermann
3D Gaussian Splatting has achieved remarkable success in photorealistic and efficient rendering, leading to a rapid increase in 3D assets represented by 3D Gaussian primitives. Directly rigging these assets with arbitrary skeleton topologies is highly desirable.
arXiv:2605.25059v4 Announce Type: replace
Abstract: Crucial for autonomous exploration, online 3D occupancy prediction and mapping incrementally construct dense spatial representations on the fly. Em...
By Ruoyu Wang, Yong Liu, Jiahan Li, Sheng Tao, Yuhang Lin, Yukai Ma
arXiv:2610.04432v2 Announce Type: replace
Abstract: Building interactive simulators from real-world observations is a promising way to scale embodied data, but current pipelines still rely heavily on...
By Jinzhou Tang, Zijun Zhang, Jing Yang, Yuchen Yan, Kun Zhou, Lingjun Mao, Ruobing Han, Jinglin Cao, Wenpeng Xu, Lukun He, Minghao Fu, Fan Feng, Biwei Huang
arXiv:2610.16558v1 Announce Type: new
Abstract: World models capture environment dynamics and support counterfactual reasoning for planning. In image-goal navigation, where the target often lies beyo...
By Ke Gui, Chenghao Shi, Ziyue Wang, Longwen Chen, Xieyuanli Chen, Huimin Lu
The paper surveys 3D generation techniques tailored for embodied AI and robotics, emphasizing that beyond visual realism, generated content must include kinematic structure, material properties, and interaction capabilities. It categorizes the literature into three roles: Data Generator, Simulation Environments, and Sim2Real Bridge, each addressing different needs in training and deployment. The survey highlights a shift toward interaction readiness and identifies key bottlenecks such as limited physical annotations, quality gaps, fragmented evaluation, and the sim‑to‑real divide.
By Tianwei Ye, Yifan Mao, Minwen Liao, Jian Liu, Chunchao Guo, Dazhao Du, Quanxin Shou, Fangqi Zhu, Song Guo