MessyKitchens introduces a new dataset of cluttered real-world kitchen scenes with detailed 3D object shapes, poses, and accurate contact information. The authors extend the SAM 3D single-object reconstruction method with a Multi-Object Decoder (MOD) to jointly reconstruct entire scenes, achieving better registration accuracy and reduced inter-object penetration compared to prior work. The dataset, benchmark, code, and pretrained models will be publicly released on the project website.
By Junaid Ahmed Ansari, Ran Ding, Fabio Pizzati, Ivan Laptev
SnapPhysics is a training‑free framework that reconstructs 3D objects and estimates their physical properties—mass, friction, and center of gravity—from a single image. It combines instance‑level 3D reconstruction with a physics‑aware scene graph to provide geometric grounding and inter‑object relationships for vision‑language model reasoning. Experiments on 3D‑FRONT and real captured scenes show significant improvements over existing methods, enabling physically interactive mixed reality experiences without manual tuning.
By Suji Kang, Seok-Young Kim, Young Bin Kim, Taewook Ha, Dieter Schmalstieg, Shohei Mori, Woontack Woo
SnapPhysics is a training‑free framework that reconstructs 3D objects and estimates their physical properties—such as mass, friction, and center of gravity—from a single image. It combines instance‑level 3D reconstruction with a physics‑aware scene graph that encodes inter‑object relationships, providing structured context for vision‑language model reasoning. Experiments on 3D‑FRONT and real captured scenes show significant improvements over prior methods, reducing errors in mass estimation and enhancing scene‑level F‑Score.
CADSplat is a framework that reconstructs photorealistic, geometrically accurate digital twins from fewer than 15 wide‑baseline images by regularizing 3D Gaussian Splatting with an explicit CAD shape prior. It matches segmented object silhouettes to a CAD library to retrieve a suitable model and camera poses, then anchors Gaussian primitives to the model’s surface and jointly optimizes splat parameters, registration, and a non‑rigid deformation field. Experiments on two real‑world datasets show CADSplat outperforms baselines, especially in sparse and self‑occluded scenarios, and its gains mainly stem from constraining splats to a surface rather than the CAD shape itself.
By Kristof Overdulve, Lode Jorissen, Nick Michiels
arXiv:2609.39590v1 Announce Type: new
Abstract: Compositional 3D scene generation aims to recover complete 3D object shapes and their spatial arrangement from visual observations. Recent image-condit...
By Guibiao Liao, Mochu Xiang, Heng Li, Ken Deng, Zijie Wang, Guanbin Li, Ping Tan, Shenghua Gao, Yizhou Yu
arXiv:2608.13014v2 Announce Type: replace
Abstract: Understanding hand-object interaction from egocentric vision is essential for modeling how people physically engage with the surrounding world. Yet...
By Andela Ilic, Rachel Schuchert, Yijing Jiang, Christian Holz
The paper introduces MILO, a framework that uses Large Reconstruction Models (LRMs) to reconstruct detailed 3D human‑object interactions from a single image. By treating the LRM mesh as a geometric scaffold, MILO segments it into human and object parts, fits a parametric body model to the human component, and optionally aligns an object template to the object component. The approach achieves higher reconstruction accuracy than existing baselines across multiple benchmarks and interaction scenarios.
By Agniv Chatterjee, Georgios Pavlakos
arXiv:2609.19119v1 Announce Type: new
Abstract: Human videos contain rich causal evidence for robot manipulation: they reveal how hand motion induces object motion and produces task-relevant changes...
By Jiaming Zhang, Homanga Bharadhwaj
arXiv:2609.23796v2 Announce Type: replace
Abstract: Single-image 3D object generation can now produce high-fidelity assets, yet accurately placing them into a coherent scene layout remains an open ch...
By Yang-Tian Sun, Tianjia Liu, Zehuan Huang, Yi-Hua Huang, Xiaoyang Lyu, Ziyi Yang, Zi-Xin Zou, Yuan-Chen Guo, Yan-Pei Cao, Xiaojuan Qi
arXiv:2610.00451v1 Announce Type: cross
Abstract: Human motion, environmental contacts, and interaction forces are governed by common physical laws, yet existing approaches typically separate visual...
By Rikhat Akizhanov (MBZUAI), Yangsong Zhang (MBZUAI), Nikolai Kaliazin (MBZUAI), Peter Wolf (ETH Z\"urich), Yoshihiko Nakamura (MBZUAI), Pascal Fua (EPFL), Fabio Pizzati (MBZUAI), Ivan Laptev (MBZUAI)
arXiv:2608.30821v1 Announce Type: cross
Abstract: Composable scene modeling aims to recover a real indoor scene as complete, editable object assets arranged as observed, giving robot simulation and e...
By Minghan Qin, Yuang Wang, Xiuyu Yang, Yushi Long, Yujian Zhang, Ruihuan Wang, Kai Ye, Yangang Zhang, Hang Li
WorldSculpt presents a method for generating compositional 3D representations of cluttered scenes with hundreds of objects by adapting a single-object 3D generative prior to multi-view observations. The approach, built on Pixal3D with a multi-view conditioning pathway, can generalize to highly occluded scenes without scene-level training. The authors also introduce the UE-MeshyScene benchmark and demonstrate that their method outperforms prior approaches across various evaluation settings, including converting existing 3DGS worlds into compositional mesh scenes.
By Muyao Niu, Jixuan He, Ruihan Yu, Lian Fu, Yonghao Yu, Zheng-Hui Huang, Yifan Zhan, Fengbo Lan, Yongtao Ge, Yinqiang Zheng, Kaipeng Zhang, Zhixiang Wang