Archon: A Unified Multimodal Model for Holistic Digital Human Generation

Digital humans are fundamental to immersive interaction, yet creating a unified model for holistic modalities, including text, audio, motion, and visual content, remains an open challenge. In this paper, we present Archon, a fully pretrained, human-centric unified multimodal model for holistic avatar generation. Archon unifies seven modalities with modality-specific tokenizers, and a native autoregressive unified multimodal model pretrained on synchronized modalities and 72 diverse tasks to model holistic joint distributions. To address the token explosion challenge in high-fidelity talking videos, we introduce a memory-efficient semantic video reparameterization, achieving 4x token reduction while preserving fine-grained dynamics, coupled with a semantic-driven video diffusion decoder. We further propose a "Thinking in Modality" that decomposes ambiguous cross-modal tasks into stepwise thinking in an alternative chain of modality, progressively enhancing fidelity and controllability. Extensive experiments demonstrate that Archon achieves superior or comparable performance across diverse digital human generation tasks, validating the effectiveness of our unified framework. Project page: https://zju3dv.github.io/archon/.

SEMAGIC: Learning Semantically Consistent Deformable 3D Representations from In-the-Wild Images

Learning deformable 3D object models from single-view in-the-wild images has enabled impressive 3D shape reconstruction without supervision. However, it remains unclear whether these models capture the semantic structure required for downstream tasks. We find that existing deformable reconstruction approaches, despite producing visually plausible geometry, yield unstable correspondences across instances and perform poorly on semantic correspondence benchmarks. We introduce SEMAGIC, a framework for learning semantically consistent deformable 3D representations from single-view in-the-wild images. Rather than treating reconstruction as the end goal, SEMAGIC uses deformable modeling as a mechanism to discover category-level correspondences. Each category is represented by a canonical template mesh and a learned deformation field, functioning similarly to an autoencoder that reconstructs instance geometry from image features, enabling vertices to maintain consistent semantic meaning across instances. Semantic consistency is enforced during training through (i) a feature-level consistency loss aligning semantic features between canonical and deformed meshes, and (ii) vertex-index-conditioned deformation that preserves semantic correspondence across instances. By explicitly coupling geometric deformation with semantic alignment, SEMAGIC produces representations that maintain stable part correspondences across intra-category variation. Experiments demonstrate that SEMAGIC improves semantic correspondence of deformable models by +14.7 PCK@0.1 on SPair-71k, establishing deformable models as effective semantic 3D representations.

PASR: Pose-Aware 3D Shape Retrieval from Occluded Single Views

Single-view 3D shape retrieval is a fundamental yet challenging task that is increasingly important with the growth of available 3D data. Existing approaches largely fall into two categories: those using contrastive learning to map point cloud features into existing vision-language spaces and those that learn a common embedding space for 2D images and 3D shapes. However, these feed-forward, holistic alignments are often difficult to interpret, which in turn limits their robustness and generalization to real-world applications. To address this problem, we propose Pose-Aware 3D Shape Retrieval (PASR), a framework that formulates retrieval as a feature-level analysis-by-synthesis problem by distilling knowledge from a 2D foundation model (DINOv3) into a 3D encoder. By aligning pose-conditioned 3D projections with 2D feature maps, our method bridges the gap between real-world images and synthetic meshes. During inference, PASR performs a test-time optimization via analysis-by-synthesis, jointly searching for the shape and pose that best reconstruct the patch-level feature map of the input image. This synthesis-based optimization is inherently robust to partial occlusion and sensitive to fine-grained geometric details. PASR substantially outperforms existing methods on both clean and occluded 3D shape retrieval datasets by a wide margin. Additionally, PASR demonstrates strong multi-task capabilities, achieving robust shape retrieval, competitive pose estimation, and accurate category classification within a single framework.

R3D: Revisiting 3D Policy Learning

3D policy learning promises superior generalization and cross-embodiment transfer, but progress has been hindered by training instabilities and severe overfitting, precluding the adoption of powerful 3D perception models. In this work, we systematically diagnose these failures, identifying the omission of 3D data augmentation and the adverse effects of Batch Normalization as primary causes. We propose a new architecture coupling a scalable transformer-based 3D encoder with a diffusion decoder, engineered specifically for stability at scale and designed to leverage large-scale pre-training. Our approach significantly outperforms state-of-the-art 3D baselines on challenging manipulation benchmarks, establishing a new and robust foundation for scalable 3D imitation learning. Project Page: https://r3d-policy.github.io/

LAMP: Lift Image-Editing as General 3D Priors for Open-world Manipulation

Human-like generalization in open-world remains a fundamental challenge for robotic manipulation. Existing learning-based methods, including reinforcement learning, imitation learning, and vision-language-action-models (VLAs), often struggle with novel tasks and unseen environments. Another promising direction is to explore generalizable representations that capture fine-grained spatial and geometric relations for open-world manipulation. While large-language-model (LLMs) and vision-language-model (VLMs) provide strong semantic reasoning based on language or annotated 2D representations, their limited 3D awareness restricts their applicability to fine-grained manipulation. To address this, we propose LAMP, which lifts image-editing as 3D priors to extract inter-object 3D transformations as continuous, geometry-aware representations. Our key insight is that image-editing inherently encodes rich 2D spatial cues, and lifting these implicit cues into 3D transformations provides fine-grained and accurate guidance for open-world manipulation. Extensive experiments demonstrate that \codename delivers precise 3D transformations and achieves strong zero-shot generalization in open-world manipulation. Project page: https://zju3dv.github.io/LAMP/.

INSPATIO-WORLD: A Real-Time 4D World Simulator via Spatiotemporal Autoregressive Modeling

Building world models with spatial consistency and real-time interactivity remains a fundamental challenge in computer vision. Current video generation paradigms often struggle with a lack of spatial persistence and insufficient visual realism, making it difficult to support seamless navigation in complex environments. To address these challenges, we propose INSPATIO-WORLD, a novel real-time framework capable of recovering and generating high-fidelity, dynamic interactive scenes from a single reference video. At the core of our approach is a Spatiotemporal Autoregressive (STAR) architecture, which enables consistent and controllable scene evolution through two tightly coupled components: Implicit Spatiotemporal Cache aggregates reference and historical observations into a latent world representation, ensuring global consistency during long-horizon navigation; Explicit Spatial Constraint Module enforces geometric structure and translates user interactions into precise and physically plausible camera trajectories. Furthermore, we introduce Joint Distribution Matching Distillation (JDMD). By using real-world data distributions as a regularizing guide, JDMD effectively overcomes the fidelity degradation typically caused by over-reliance on synthetic data. Extensive experiments demonstrate that INSPATIO-WORLD significantly outperforms existing state-of-the-art (SOTA) models in spatial consistency and interaction precision, ranking first among real-time interactive methods on the WorldScore-Dynamic benchmark, and establishing a practical pipeline for navigating 4D environments reconstructed from monocular videos.

SparseCam4D: Spatio-Temporally Consistent 4D Reconstruction from Sparse Cameras

High-quality 4D reconstruction enables photorealistic and immersive rendering of the dynamic real world. However, unlike static scenes that can be fully captured with a single camera, high-quality dynamic scenes typically require dense arrays of tens or even hundreds of synchronized cameras. Dependence on such costly lab setups severely limits practical scalability. The reliance on such costly lab setups severely limits practical scalability. To this end, we propose a sparse-camera dynamic reconstruction framework that exploits abundant yet inconsistent generative observations. Our key innovation is the Spatio-Temporal Distortion Field, which provides a unified mechanism for modeling inconsistencies in generative observations across both spatial and temporal dimensions. Building on this, we develop a complete pipeline that enables 4D reconstruction from sparse and uncalibrated camera inputs. We evaluate our method on multi-camera dynamic scene benchmarks, achieving spatio-temporally consistent high-fidelity renderings and significantly outperforming existing approaches.

OnlinePG: Online Open-Vocabulary Panoptic Mapping with 3D Gaussian Splatting

Open-vocabulary scene understanding with online panoptic mapping is essential for embodied applications to perceive and interact with environments. However, existing methods are predominantly offline or lack instance-level understanding, limiting their applicability to real-world robotic tasks. In this paper, we propose OnlinePG, a novel and effective system that integrates geometric reconstruction and open-vocabulary perception using 3D Gaussian Splatting in an online setting. Technically, to achieve online panoptic mapping, we employ an efficient local-to-global paradigm with a sliding window. To build local consistency map, we construct a 3D segment clustering graph that jointly leverages geometric and semantic cues, fusing inconsistent segments within sliding window into complete instances. Subsequently, to update the global map, we construct explicit grids with spatial attributes for the local 3D Gaussian map and fuse them into the global map via robust bidirectional bipartite 3D Gaussian instance matching. Finally, we utilize the fused VLM features inside the 3D spatial attribute grids to achieve open-vocabulary scene understanding. Extensive experiments on widely used datasets demonstrate that our method achieves better performance among online approaches, while maintaining real-time efficiency.

InSpatio-WorldFM: An Open-Source Real-Time Generative Frame Model

We present InSpatio-WorldFM, an open-source real-time frame model for spatial intelligence. Unlike video-based world models that rely on sequential frame generation and incur substantial latency due to window-level processing, InSpatio-WorldFM adopts a frame-based paradigm that generates each frame independently, enabling low-latency real-time spatial inference. By enforcing multi-view spatial consistency through explicit 3D anchors and implicit spatial memory, the model preserves global scene geometry while maintaining fine-grained visual details across viewpoint changes. We further introduce a progressive three-stage training pipeline that transforms a pretrained image diffusion model into a controllable frame model and finally into a real-time generator through few-step distillation. Experimental results show that InSpatio-WorldFM achieves strong multi-view consistency while supporting interactive exploration on consumer-grade GPUs, providing an efficient alternative to traditional video-based world models for real-time world simulation.

HECTOR: Hybrid Editable Compositional Object References for Video Generation

Real-world videos naturally portray complex interactions among distinct physical objects, effectively forming dynamic compositions of visual elements. However, most current video generation models synthesize scenes holistically and therefore lack mechanisms for explicit compositional manipulation. To address this limitation, we propose HECTOR, a generative pipeline that enables fine-grained compositional control. In contrast to prior methods,HECTOR supports hybrid reference conditioning, allowing generation to be simultaneously guided by static images and/or dynamic videos. Moreover, users can explicitly specify the trajectory of each referenced element, precisely controlling its location, scale, and speed (see Figure1). This design allows the model to synthesize coherent videos that satisfy complex spatiotemporal constraints while preserving high-fidelity adherence to references. Extensive experiments demonstrate that HECTOR achieves superior visual quality, stronger reference preservation, and improved motion controllability compared with existing approaches.