Point_Cloud
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Reading the Room: Scale-ambiguous Semantic Registration of Sparse VSLAM Maps to Floor Plans in Partially Built Environments
2026-10-21 12:28:06Bjorn Stragier, Emilia Szyma\'nska, J. Micah Prendergast, Lukas Rosenberger SchmidAbstract
Many robotic construction applications, such as progress tracking, require registering a sensor trajectory to a prior 2D floor plan. Visual capture is attractive for its low cost and availability, but aligning a visual simultaneous localization and mapping (VSLAM) map to a floor plan is difficult; VSLAM recovers geometry only up to an unknown similarity transform, the sparse point cloud is cross-modal to the symbolic floor plan, sites are only partially built during capture, and construction sites are visually repetitive, degrading map quality while removing distinctive features. Existing methods address at most two of these challenges. We thus introduce Reading the Room(RR), a global-local approach to register scale-ambiguous, sparse, semantic VSLAM maps to partially built floor plans. Our key idea is to define a single robust, differentiable, class-balanced semantic-geometric energy function that governs all stages of the pipeline. We develop two global initialization schemes, leveraging a single inaccurate user-provided correspondence if provided, or estimating the initialization globally using a cross-modal matching network. Both schemes are designed to find initial candidates with respect to the energy function, which is then directly optimized for local refinement. We evaluate RR on 33 sequences across three active construction sites against classical and learning-based baselines, achieving a 4.5x improvement in mean absolute trajectory error over the strongest baseline in the general unconstrained setting, which increases to 7.6x when an anchor is provided.
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URL
https://arxiv.org/abs/2610.29647
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AutoPhyX: Automatic Text-Condition Physics Property Generation
2026-10-21 10:05:23Bei Huang, Yixin Chen, Hongbin Zha, Yuru Pei, Siyuan HuangAbstract
High-fidelity 4D physical simulation requires accurate physical parameter assignments that align with diverse material properties. Previous methods struggle with critical bottlenecks: they either rely on computationally intensive per-scene optimization or predict parameters from purely visual inputs. The latter suffers from inherent ambiguity, e.g., the inability to distinguish the stiffness of rubber from its appearance alone. To bridge this gap, we propose AutoPhyX, a text-conditioned framework for predicting spatially-varying physical properties. Since training robust feed-forward models requires fine-grained supervision, we first introduce a novel part-controllable data generation pipeline that decomposes complex 3D assets into semantically distinct components and pairs them with physically plausible, diverse parameters and corresponding text descriptions. Leveraging this dataset, AutoPhyX employs a cross-modal modulation mechanism where text features dynamically modulate visual features for precise physical grounding. By formulating property prediction within a voxel field, AutoPhyX ensures compatibility with diverse 3D representations, including meshes, point clouds, Gaussian Splatting, and NeRF. Experiments demonstrate that our method enables physically plausible, text-driven parameter assignment in a single forward pass. It achieves high accuracy and robust generalization to in-the-wild objects, paving the way for future physics-intensive embodied and robotic applications.
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URL
https://arxiv.org/abs/2610.29517
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CRAB: Cuboid-based Representation for As-built BIM from Point Clouds
2026-10-21 06:06:13Haoran Xiong, Jing Wang, Shanshan Pan, Zihao Yan, Minglun Gong, Hui HuangAbstract
As-built BIM reconstruction from point clouds demands semantic, volumetric, parametric, and editable building components, beyond 2D layouts or planar abstractions. Yet existing scan-to-BIM pipelines often rely on handcrafted rules, heuristic optimization, or manual correction, while learning-based methods fall short of recovering wall thickness, opening geometry, and component-level BIM structure. We introduce CRAB, a BIM-ready cuboid reconstruction framework that encodes walls, doors, windows, beams, and columns as compact architectural cuboids with IFC-compatible semantics and parameters. CRAB bridges point clouds and editable BIM by combining ProposalNet, which predicts coarse component cuboids, with AssemblyNet, a relation-aware Flow Matching model that refines geometry, predicts structural relationships, and enables automatic structural correction and human-guided editing. To address limited cuboid-level supervision, we extend Structured3D with component-wise cuboid annotations and construct cuboid-based procedural scenes. Experiments show CRAB surpasses floor plan and plane-based alternatives in component completeness, geometric accuracy, and generalization. For interior wall thickness estimation, CRAB achieves a mean error of 2.80 cm, with 79.50% of matched walls within 3 cm. The project page is available at this https URL.
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https://arxiv.org/abs/2610.29257
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RAHF-Net: Range-Aware Heterogeneous Fusion for LiDAR-Assisted RGB Semantic Segmentation
2026-10-20 21:00:32R. D. Lin, Pengcheng Weng, Ge Wang, Han Ding, Fei WangAbstract
This paper studies LiDAR-assisted RGB semantic segmentation, where LiDAR point-cloud features improve dense pixel-wise predictions in the RGB image plane rather than 3D point labels or detections. Existing 2D fusion methods often project point clouds into shallow depth/range maps and apply spatially uniform fusion, discarding rich 3D structure and ignoring the range-dependent reliability of outdoor LiDAR. We propose RAHF-Net, a Range-Aware Heterogeneous Fusion Network. Its Cylindrical-to-Perspective (C2P) module projects pretrained cylindrical voxel features into the image plane, preserving structured 3D semantic priors. A Range-Aware Heterogeneous Fusion (RAHF) module then uses a soft depth-derived range mask to perform LiDAR-guided geometric enhancement in reliable near-field regions and visual-context enhancement in sparse far-field regions. On KITTI-360, RAHF-Net achieves 65.76 mIoU, outperforming representative RGB-only and RGB-LiDAR baselines, including CMX by 1.45 points. Experiments on DELIVER further demonstrate improved robustness under adverse weather, illumination degradation, and sensor corruption.
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URL
https://arxiv.org/abs/2610.25400
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Register Anything Model for Generalizable and Robust Point Cloud Registration
2026-10-20 18:40:50Zheng Qin, Junhua Xi, Yan Huang, Jiahong Lai, Anwen Huang, Qiong Li, Guangda Zhang, Kai XuAbstract
We present Register Anything Model (RAM), a unified model for generalizable 3D point cloud registration that robustly estimates 6-DoF transformations across diverse domains spanning sensors and environments. Existing registration methods are typically tailored to a single domain, with carefully tuned architectures and hyperparameters, and thus degrade markedly when applied to novel domains. We bridge this gap by training a single model on diverse data from indoor, outdoor, and object domains. A central challenge is the severe geometric discrepancy across domains, i.e., differences in scene scale, sensor noise, point density, and structural patterns, which hinders processing with a unified point-based model. To address this, we introduce a geometry-aware normalization strategy that jointly voxelizes and normalizes point clouds into a standardized geometric space, adaptively based on their geometric properties to preserve salient local structures while standardizing resolution. Built on this normalization, RAM follows a hierarchical coarse-to-fine paradigm, and employs an efficient geometric transformer that models local geometric consistency instead of globally over all points. This design mitigates discretization noise introduced by voxelization, and improves computational efficiency. Extensive experiments on 12 benchmarks demonstrate state-of-the-art performance in terms of inlier ratio and registration recall. Notably, our method outperforms the counterparts trained on each separate domain, showing superior generalization capability.
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https://arxiv.org/abs/2610.28821
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SolarRenderer: Few-Step Generative Reference Rendering
2026-10-20 17:59:48Guian Fang, Shengju Qian, Dongyue Lu, Junchao Huang, Lutao Jiang, Xin Wang, Yiren Song, Li Jiang, Mike Zheng ShouAbstract
Game engines and coding agents can specify the layout, motion, and camera of a scene, yet turning such coarse structure into realistic video requires a renderer that follows the structure and completes the appearance it leaves open. Existing renderers are tied to the representation of one engine, need tens of denoising steps or a costly distillation of their own, and learn from conditions that are not aligned with their target videos. We present SolarRenderer, a structure-conditioned video renderer that adapts a frozen MiniMax-H3 33B backbone with two lightweight LoRAs. Structural videos enter the native reference pathway of the backbone at the positions of the frames they describe, without a type identifier and described only in plain text, so that a single control LoRA follows arbitrary structural representations. Starting from a pretrained four-step LoRA, structure-guided distribution matching renders in four steps, 12.3 times faster than 50-step sampling, while preserving the learned control. A block-causal variant extends the same design to streaming and renders 768p video in real time. To train the model, we build a frame-aligned corpus of 136K clips from game engines, simulators, and YouTube videos. Experiments on an in-distribution test set and a generalization benchmark of 16 structural representations show that SolarRenderer achieves state-of-the-art results across both, and generalizes to 11 unseen representations, including pose skeletons, drawings, and point clouds.
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URL
https://arxiv.org/abs/2610.28630
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Latent Bridge: From Video Latents to 3D Geometry via Feature Alignment
2026-10-20 16:57:49Shuai Zhang, Zhanpeng Ouyang, Zhengqing Chen, Ruohong Mei, Shaoyu Chen, Weiqiang Ren, Hui Sun, Qian Zhang, Wenyu Liu, Xinggang WangAbstract
Video generation and feed-forward 3D reconstruction typically use separate representations, requiring RGB decoding and visual re-encoding to recover geometry from generated latents. We propose Latent Bridge, which connects video generative latent spaces with geometric feature spaces to directly predict 3D geometry from video latents. We develop representation-specific bridges for Wan2.1 and V-RAE, enabling feed-forward prediction of cameras, depth, and 3D point clouds without the intermediate RGB pathway. Each bridge is trained on RGB videos through feature distillation, while the video encoder and geometry model remain frozen. Training requires neither ground-truth geometry nor execution of the downstream geometric aggregator or prediction heads. At inference, the same video latents support both RGB decoding and geometry prediction. The same trained bridge can be reused for image-to-video and text-to-video generation within the same video latent space, without bridge retraining. Experiments on Co3Dv2 and WildRGB-D demonstrate competitive geometric reconstruction quality, efficient end-to-end generation and reconstruction, and faster latent-to-geometry decoding, highlighting latent alignment as a practical and reusable interface between video generation and 3D reconstruction. Our code is available at: this https URL.
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URL
https://arxiv.org/abs/2610.28521
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GALA: Geometry-Aware Language Model for Controllable Object Arrangement
2026-10-20 14:32:52Chucheng Xiang, Runze Wang, Zhi Deng, Ruchao Bao, Yuanwei Zhang, Yuxuan Xie, Hanliu Wang, Liangzhen Fei, Wenzheng Wu, Cheng Wan, Peifeng Li, Zhongyuan Liu, Ligang LiuAbstract
Reasoning about fine-grained placement constraints, such as support and containment, is essential for realistic 3D scene creation. It remains a significant challenge for existing methods that rely on simplified object representations like oriented bounding box (OBB), which are blind to the detailed geometry. To address this limitation, we introduce GALA, a geometry-aware language model with explicit point cloud perception for controllable object placement. Our model performs autoregressively by predicting the 6D pose of one target object at a time conditioned on the scene context and placement instruction. We utilize a two-stage training strategy: the first stage aligns geometric and textual modalities through pretraining tasks, and the second stage fine-tunes the model for placement. To facilitate this task, we also curate a multi-source scene dataset covering diverse room types and fine-grained furniture arrangements, which will be open-sourced for community benefit. Experiments on our benchmark show our model significantly outperforms baselines without explicit geometric reasoning. We further develop a multi-stage plan-place-verify agent pipeline that uses the model for text-driven scene generation. Project Page: this https URL
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URL
https://arxiv.org/abs/2610.28280
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What Novice Operators See Changes What the Policy Learns: A User Study of Keypoint Hand Visual Representation for Teleoperated Demonstration
2026-10-20 09:22:21Amane Yamaguchi, Shohei Kamiguchi, Masashi Hamaya, Shigeo Yoshida, Takuji Narumi, Mai NishimuraAbstract
Imitation learning increasingly relies on novice operators, whose demonstrations fall short of experts' in number and inter-trial consistency. Operators act on what they are shown, yet how the rendering of the robot affects their demonstrations, and the policies trained on them, has not been examined. We study this question with PointHand, a teleoperation interface that renders a multi-fingered robot hand as sparse keypoints at its fingertips and joints, the same keypoints a policy can observe. In a simulated mug-in-box task, 18 novices and 4 experts collected 2,200 trials under three renderings: the real shape of the hand, all keypoints emphasized, or the thumb and index finger alone emphasized. The novices shown the thumb and index finger emphasized collected 441 successful demonstrations from 600 trials, against 320 for those shown the real shape. We then trained diffusion policies on these demonstrations, replacing the scene point cloud and proprioceptive state they observe with the hand keypoints and two object keypoints. Within 400 steps these demonstrations went from the weakest of the three novice conditions under the point-cloud policy (46.3%) to the strongest under the keypoint policy (57.3%), a gain of +11.0 percentage points in all five seeds. Those collected with all keypoints emphasized changed by at most +0.7 percentage points, and in no more than three seeds. The value of a demonstration therefore depends on the rendering shown during collection and on what the policy observes together. A shared representation can pay off on both sides, in the number of successful demonstrations and in the success rate of the policy trained on them. Project page: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2610.27907
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Radar-Based 3D Human Pose Estimation via Motion-Aware Pose Initialization and Observation-Guided Refinement
2026-10-20 07:38:04Woo-Jin Jung, Chan-Bin Lim, Seung-Hyun KongAbstract
3D Human Pose Estimation (3D HPE) is used in indoor environments, such as smart homes, to analyze human movement and monitor human states. Millimeter-wave (mmWave) radar is suitable for this task because it is robust to lighting variations and does not capture images of human appearance. However, radar observations often provide insufficient information about certain body parts or contain overlapping reflections from multiple body parts, limiting accurate 3D joint localization. To address these limitations, we propose the Initialization-to-Refinement Pose Framework (I2R-Pose), comprising two stages: Motion-Aware Pose Initialization and Observation-Guided Refinement. In the first stage, joint-wise features are learned by incorporating temporal relationships across consecutive radar observations and human skeletal structure to compensate for insufficient joint information and estimate an initial 3D pose sequence. In the second stage, separately extracted radar observation features predict joint-wise positional corrections that refine the initial pose and generate the final pose sequence. The framework supports individual and fused inputs of time-Doppler/time-range (TD/TR) maps and radar point clouds (PCs). To evaluate performance across indoor activities, we construct the Radar Motion and Spatial Information for 3D Human Pose Estimation (RaMoS-Pose) dataset, providing synchronized TD/TR maps, radar PCs, and 3D joint ground truth (GT). Evaluations on RaMoS-Pose and the publicly available MVDoppler-Pose dataset show that I2R-Pose reduces mean per-joint position error (MPJPE) by 39.50% on MVDoppler-Pose and by 15.13% on RaMoS-Pose with fused inputs, compared with the best-performing existing methods evaluated on each dataset.
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URL
https://arxiv.org/abs/2610.27774
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TokenFlow: Latent Token Rectified Flow Matching for 3D Point Cloud Generation
2026-10-20 00:14:00Linhao Wang, Dongjin HuangAbstract
3D point clouds generation requires capturing both part-level layout and surface detail while preserving permutation equivariance. Existing latent generative models often encode an entire shape into a single vector, which limits their ability to retain part-level structure. We propose TokenFlow, a hierarchical flow matching framework that represents each shape as a set of latent tokens and couples a rectified flow over these tokens with a conditional flow over points. A bottleneck of $M \ll N$ learnable tokens aggregates global context through cross-attention at $O(NM)$ cost. On ShapeNet, TokenFlow achieves the best MMD and coverage across airplane, car, and chair, while obtaining 1-NNA comparable to the strongest baselines. On ModelNet, its learned latent set reaches the best reported linear-evaluation accuracy on ModelNet10. These results show that representing a shape as a set of latent tokens, aggregated at $O(NM)$ cost, provides an effective representation for 3D point cloud generation.
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URL
https://arxiv.org/abs/2610.27418
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Test-time Adaptation for Point Cloud Denoising under Unseen Noise
2026-10-20 00:04:09Kun Jiang, Shida Fu, Fanhao Yi, Weiqing Li, Zhiyong SuAbstract
Although deep learning-based point cloud denoising methods have demonstrated impressive results in recent years, their effectiveness usually degrades substantially in real-world scenarios where the noise distribution of test point clouds deviates from that of the training set. To address this challenge, we propose a test-time adaptive denoising (TTAD) framework that enables existing denoising approaches to adapt to unknown noise patterns at test time without relying on additional supervision or retraining from source data. Taking a pre-trained denoising model and a test noisy point cloud as input, TTAD first employs a residual-driven noise modeling (RDNM) module to estimate the sample-specific noise distribution through analyzing the deviation between the noisy input and its pseudo-clean version denoised by the initial model. Then, a noise-aware contrastive adaptation (NACA) module is designed to build sample-specific noisy-noisier test-time training pair from the denoised point cloud, and update the model parameters over a few adaptation steps per sample at test time through contrastive learning. Furthermore, TTAD naturally extends to a continual TTAD (CTTAD) setting, facilitating efficient progressive refinement across sequential test samples with consistent noise distributions, while reducing the computational cost per sample. Extensive experiments on both synthetic and real-world datasets demonstrate that our approach significantly improves the generalization ability of existing denoising models under unseen noise, achieving superior performance across multiple evaluation metrics.
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URL
https://arxiv.org/abs/2610.27410
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On Maximum Clique and Maximum Consensus Formulations in Point Cloud Registration
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Maximum clique and maximum consensus are widely used formulations for robust point cloud registration in robotics. Maximum consensus seeks one transformation that aligns as many matches as possible, while maximum clique selects matches through pairwise distance tests. Maximum clique is often used as a substitute for or an approximation to maximum consensus, with empirical evidence suggesting a close relationship. However, how closely the two formulations agree is not fully understood. We study this relationship theoretically. We show that a maximum clique can have arbitrarily large alignment error and be arbitrarily larger than the maximum consensus set at any fixed positive tolerance, and derive geometric conditions that bound this error. When rotation is fixed, we derive sharp error bounds and tests that exactly characterize maximum consensus for the translation subproblem. Finally, we study group-$k$ consistency, which tests groups of $k$ matches, and determine the smallest group sizes that guarantee alignment error bounds independent of point cloud scale and geometry. These are $d+1$ for rotations and translations and $d+2$ when reflections are allowed, in dimensions $d\ge 2$. Interactive examples and proof verification using the Lean theorem prover are available at this https URL.
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URL
https://arxiv.org/abs/2610.27275
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Point2Acoustic: Efficient Room Acoustic Parameter Estimation from 3D Geometry and Material Properties
2026-10-19 14:27:42Xun Gao, Raksha Ramakrishna, Tommy Falk, Werner de BruijnAbstract
Scene-adaptive immersive audio rendering requires rapid estimation of acoustic parameters that reflect the surrounding environment. For repeated runtime scene updates, performing a detailed geometric-acoustic simulation for every update can be computationally costly. We present Point2Acoustic, a learning-based framework for direct estimation of six-band reverberation time ($RT_{60}$) and reverberant-to-direct ratio (RDR) from 3D scene geometry and acoustic material properties. Each scene is represented by a surface-sampled point cloud with spatial coordinates and frequency-dependent absorption and scattering coefficients, and encoded using PointNet or PointNet++. We train and evaluate the framework on a synthetic furnished-room dataset with varied geometry and acoustic materials, using geometric-acoustic simulation to obtain reference targets. Point2Acoustic achieves accurate multi-band prediction with millisecond-scale inference, and ablation results indicate that explicit global room descriptors and semantic surface labels provide no consistent benefit. The proposed formulation supports efficient scene-adaptive acoustic rendering in extended reality (XR).
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URL
https://arxiv.org/abs/2610.27023
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Uncertainty Gates the Gradient: Adaptive Updates for Generalized Few-Shot 3D Segmentation
2026-10-17 04:05:32Yifei Zhao, Fanyu Zhao, Shengtang Wu, Han Zhang, Ruike Cao, Yinsheng LiAbstract
In generalized few-shot 3D point cloud segmentation, support annotations are often compromised by sparsity and occlusion. Blindly adapting to such low quality samples risks learning spurious geometric patterns rather than robust novel concepts. Although 3D Vision-Language Models have been introduced to sup plement supervision, the potential of uncertainty to actively govern adaptation dynamics remains underexplored. Existing signal-level methods like loss reweight ing fail to prevent unreliable episodes from steering the optimization trajectory. To address this, we propose Uncertainty-Gated Adaptive (UGA), to the best of our knowledge the first framework that elevates uncertainty to update-level gating for generalized few-shot 3D point cloud segmentation. The core mod ule, Uncertainty-Gated Update (UG-Update), estimates episodic reliability via intra-class dispersion over merged support and pseudo-labeled novel supervision, and selectively gates residual gradient updates. This encourages the model to learn novel semantics from reliable episodes while attenuating updates during unreliable ones. Complementing this, we introduce an Uncertainty-Based Pseudo Label Filter (UB-Filter) to enforce learning from high-confidence dense signals. On ScanNet200 and ScanNet++ (1-/5-shot), UGA sets new state of the art with an average +3.08 HM IoU over the strongest prior baseline.
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URL
https://arxiv.org/abs/2610.26909
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Persistent Planar Memory for Video World Models
2026-10-16 17:21:54Yuze He, Bin Tan, Zelin Gao, Yujun Shen, Yong-Jin Liu, Nan Xue, Yinghao XuAbstract
Video world models that generate and explore environments at scale need a persistent 3D memory of what they have produced. Plane primitives offer a natural candidate: a compact set of oriented planes captures the dominant structural elements (e.g., walls, floors, facades) of indoor and outdoor scenes, while requiring only 7 parameters per primitive. We present PPMem, a video world model that adopts plane primitives as its persistent 3D memory. PPMem augments a video diffusion transformer with a planar prediction head and a Depth Token Fusion (DTF) module: each autoregressive chunk jointly produces RGB video and planar geometry, which merges into a persistent plane memory that conditions subsequent chunks via rendered depth. The resulting memory is three orders of magnitude more compact than per-pixel point clouds (~100K primitives, 5MB for a full scene), geometrically explicit (metric depth, normals, exportable surfaces), cross-view consistent (jointly predicted by the shared backbone), and adaptive (refined by the merging procedure as generation proceeds). On DL3DV and RealEstate10K, PPMem outperforms prior 3D-grounded world models in video quality while jointly producing metric-scale depth, surface normals, and exportable planar geometry, sustaining coherence across hundreds of frames under large viewpoint changes. Project page: this https URL.
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https://arxiv.org/abs/2610.23795
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Momentum: Persistent Dynamics for Video World Models
2026-10-16 13:09:55Nedko Savov, Stefan Maria Ailuro, Danda Pani Paudel, Yilun Du, Xi Wang, Luc Van GoolAbstract
Video world models must capture how a scene evolves beyond the current camera view to generate consistent observations when its content reappears. Existing approaches rely on observation history, static point clouds, or image caches constructed from past frames. These representations are often expensive and, more importantly, cannot update dynamic scene content outside the field of view: generated vehicles and pedestrians may be forgotten after leaving the field of view or reappear in physically inaccurate states. We represent an evolving scene through synchronized videos from reference-camera rigs, each comprising eight cameras that jointly cover the surrounding scene. We connect these rigs in a graph and propagate video generation between neighboring rigs to coordinate scene dynamics across locations and time. We introduce Momentum, a two-stage pipeline: WorldUpdate jointly generates reference-camera videos as a shared memory of scene dynamics, and WorldInteract grounds camera-controlled video generation in this evolving memory, allowing moving content to remain represented outside the target view and reappear consistently. To support training and evaluation, we develop a CARLA pipeline that captures synchronized videos from reference camera rigs and a moving target camera, together with an evaluation framework measuring consistency within the generated world state and the target this http URL on generated street scenes show that grounding target videos in scene dynamics generated by Momentum improves dynamic scene consistency by 126.2% in unseen scenes over static image conditioning, while also improving visual fidelity. Our models and source code will be made publicly available.
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URL
https://arxiv.org/abs/2610.23423
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ORD-WM: Learning Object-Centric Rigid Dynamics for 3D World Modeling in Robotic Manipulation
2026-10-16 08:54:15Yueyang Weng, Xiaopeng Zhang, Yuxi Ou, Yongjin Mu, Chengzhi Zhao, Yanjie LiAbstract
World models provide robots with a predictive mechanism for reasoning about how actions change object states in manipulation tasks. However, existing image-based and dense 3D world models do not explicitly impose object-level rigid motion, leaving rigid-object geometry preservation to be learned implicitly and making multi-step rollouts susceptible to shape drift or object-level motion inconsistency. To address this, we propose ORD-WM, a 3D world model that learns object-centric rigid dynamics for robotic manipulation. ORD-WM learns a vector-neuron variational autoencoder supervised by signed distance fields, which encodes each object point cloud as a geometry-aware latent representation composed of 3D vector features, and uses an action-conditioned dynamics model to predict object-wise SE(3) motion increments. Rather than generating unconstrained next latent states, ORD-WM analytically applies predicted object-wise rigid transformations to the current latent states, separating persistent object geometry from pose changes. Experiments show that ORD-WM enables stable, geometry-preserving multi-step prediction and supports efficient real-time replanning for closed-loop model predictive control in simulated and real-world manipulation scenarios.
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URL
https://arxiv.org/abs/2610.23156
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BRICE: Brain-inspired Recurrent Illusory Contour Encoder for Point Cloud Completion
2026-10-16 06:25:09Yunlei Wang, Dawei Li, Xue-song TangAbstract
Mainstream point cloud completion methods are unanimously based on deep learning architectures. On one hand, these methods tend to repetitively stacking attention modules to enhance network performance, which drifts away from the neat design of unified and interpret-able networks; on the other hand, nearly all existing architectures rely solely on feed-forward connections to propagate information, neglecting feedback from deeper layers. The recurrent neural architecture, formed by feedforward-feedback loops, have shown its ability to generate Illusory Contours (ICs) in the V1 brain region of mammals; and ICs are essentially a completion mechanism of the brain for visual information. Motivated by this, we design a Brain-inspired Recurrent Illusory Contour Encoder (BRICE) to "imagine" what is missing in the incomplete 3D point clouds. Building upon the foundation model of Predictive Coding (PC), the plug-and-play nature enables BRICE to be seamlessly integrated into mainstream point cloud completion baselines. Experimental results show that BRICE can enhance various completion baselines on different 3D datasets such as MVP2K, PCN, and PlantPCom. Our code: this https URL.
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URL
https://arxiv.org/abs/2610.23001
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HilbertGen-3D:Hilbert--Multifractal Conditioning for Topology-Aware 3D Generation
2026-10-15 22:45:52Ziyi Zhang, Shixuan Li, Yorie Nakahira, Paul Bogdan, Guannan QuAbstract
High-fidelity 3D generative modeling underpins game asset creation, medical imaging, and VR/AR environmental design, where geometric structure directly influences perception and decision-making. Diffusion models represent a powerful paradigm for point cloud generation. However, existing approaches rely heavily on local voxel or patch features and often miss global structural organization, and much less work has studied how global conditioning can be used to improve generation quality. In this paper, we introduce HilbertGen-3D, a novel topology-aware conditional diffusion framework based on Hilbert-Multifractal Conditioning (HMC). HMC computes multi-scale voxel measures, serializes them via a 3D Hilbert curve to expose structured spatial dependencies, and estimates the generalized fractal dimensions from scale-dependent partition functions. We encode these signals as global embeddings and multi-scale tokens, and inject them into a diffusion denoiser through an efficient bottleneck fusion module. Across the Chair, Airplane, and Car categories of ShapeNet, our two conditioning variants reduce the absolute deviation of 1-Nearest Neighbor Accuracy (1-NNA) from 50% by up to 8.90 percentage points and increase coverage by up to 5.88 percentage points relative to TopoDiT-3D. This shows that combining local density cues with global Hilbert-multifractal structure provides a simple and effective recipe for high-fidelity and diverse 3D generation.
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URL
https://arxiv.org/abs/2610.22720
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