ViTa-Zero: Zero-shot Visuotactile Object 6D Pose Estimation

Object 6D pose estimation is a critical challenge in robotics, particularly for manipulation tasks. While prior research combining visual and tactile (visuotactile) information has shown promise, these approaches often struggle with generalization due to the limited availability of visuotactile data. In this paper, we introduce ViTa-Zero, a zero-shot visuotactile pose estimation framework. Our key innovation lies in leveraging a visual model as its backbone and performing feasibility checking and test-time optimization based on physical constraints derived from tactile and proprioceptive observations. Specifically, we model the gripper-object interaction as a spring-mass system, where tactile sensors induce attractive forces, and proprioception generates repulsive forces. We validate our framework through experiments on a real-world robot setup, demonstrating its effectiveness across representative visual backbones and manipulation scenarios, including grasping, object picking, and bimanual handover. Compared to the visual models, our approach overcomes some drastic failure modes while tracking the in-hand object pose. In our experiments, our approach shows an average increase of 55% in AUC of ADD-S and 60% in ADD, along with an 80% lower position error compared to FoundationPose.

Art3D: Training-Free 3D Generation from Flat-Colored Illustration

Large-scale pre-trained image-to-3D generative models have exhibited remarkable capabilities in diverse shape generations. However, most of them struggle to synthesize plausible 3D assets when the reference image is flat-colored like hand drawings due to the lack of 3D illusion, which are often the most user-friendly input modalities in art content creation. To this end, we propose Art3D, a training-free method that can lift flat-colored 2D designs into 3D. By leveraging structural and semantic features with pre- trained 2D image generation models and a VLM-based realism evaluation, Art3D successfully enhances the three-dimensional illusion in reference images, thus simplifying the process of generating 3D from 2D, and proves adaptable to a wide range of painting styles. To benchmark the generalization performance of existing image-to-3D models on flat-colored images without 3D feeling, we collect a new dataset, Flat-2D, with over 100 samples. Experimental results demonstrate the performance and robustness of Art3D, exhibiting superior generalizable capacity and promising practical applicability. Our source code and dataset will be publicly available on our project page: https://joy-jy11.github.io/ .

InteractAvatar: Modeling Hand-Face Interaction in Photorealistic Avatars with Deformable Gaussians

With the rising interest from the community in digital avatars coupled with the importance of expressions and gestures in communication, modeling natural avatar behavior remains an important challenge across many industries such as teleconferencing, gaming, and AR/VR. Human hands are the primary tool for interacting with the environment and essential for realistic human behavior modeling, yet existing 3D hand and head avatar models often overlook the crucial aspect of hand-body interactions, such as between hand and face. We present InteracttAvatar, the first model to faithfully capture the photorealistic appearance of dynamic hand and non-rigid hand-face interactions. Our novel Dynamic Gaussian Hand model, combining template model and 3D Gaussian Splatting as well as a dynamic refinement module, captures pose-dependent change, e.g. the fine wrinkles and complex shadows that occur during articulation. Importantly, our hand-face interaction module models the subtle geometry and appearance dynamics that underlie common gestures. Through experiments of novel view synthesis, self reenactment and cross-identity reenactment, we demonstrate that InteracttAvatar can reconstruct hand and hand-face interactions from monocular or multiview videos with high-fidelity details and be animated with novel poses.

V-HOP: Visuo-Haptic 6D Object Pose Tracking

Humans naturally integrate vision and haptics for robust object perception during manipulation. The loss of either modality significantly degrades performance. Inspired by this multisensory integration, prior object pose estimation research has attempted to combine visual and haptic/tactile feedback. Although these works demonstrate improvements in controlled environments or synthetic datasets, they often underperform vision-only approaches in real-world settings due to poor generalization across diverse grippers, sensor layouts, or sim-to-real environments. Furthermore, they typically estimate the object pose for each frame independently, resulting in less coherent tracking over sequences in real-world deployments. To address these limitations, we introduce a novel unified haptic representation that effectively handles multiple gripper embodiments. Building on this representation, we introduce a new visuo-haptic transformer-based object pose tracker that seamlessly integrates visual and haptic input. We validate our framework in our dataset and the Feelsight dataset, demonstrating significant performance improvement on challenging sequences. Notably, our method achieves superior generalization and robustness across novel embodiments, objects, and sensor types (both taxel-based and vision-based tactile sensors). In real-world experiments, we demonstrate that our approach outperforms state-of-the-art visual trackers by a large margin. We further show that we can achieve precise manipulation tasks by incorporating our real-time object tracking result into motion plans, underscoring the advantages of visuo-haptic perception. Our model and dataset will be made open source upon acceptance of the paper. Project website: https://lhy.xyz/projects/v-hop/

UVGS: Reimagining Unstructured 3D Gaussian Splatting using UV Mapping

3D Gaussian Splatting (3DGS) has demonstrated superior quality in modeling 3D objects and scenes. However, generating 3DGS remains challenging due to their discrete, unstructured, and permutation-invariant nature. In this work, we present a simple yet effective method to overcome these challenges. We utilize spherical mapping to transform 3DGS into a structured 2D representation, termed UVGS. UVGS can be viewed as multi-channel images, with feature dimensions as a concatenation of Gaussian attributes such as position, scale, color, opacity, and rotation. We further find that these heterogeneous features can be compressed into a lower-dimensional (e.g., 3-channel) shared feature space using a carefully designed multi-branch network. The compressed UVGS can be treated as typical RGB images. Remarkably, we discover that typical VAEs trained with latent diffusion models can directly generalize to this new representation without additional training. Our novel representation makes it effortless to leverage foundational 2D models, such as diffusion models, to directly model 3DGS. Additionally, one can simply increase the 2D UV resolution to accommodate more Gaussians, making UVGS a scalable solution compared to typical 3D backbones. This approach immediately unlocks various novel generation applications of 3DGS by inherently utilizing the already developed superior 2D generation capabilities. In our experiments, we demonstrate various unconditional, conditional generation, and inpainting applications of 3DGS based on diffusion models, which were previously non-trivial.

ProcTex: Consistent and Interactive Text-to-texture Synthesis for Procedural Models

Recent advancement in 2D image diffusion models has driven significant progress in text-guided texture synthesis, enabling realistic, high-quality texture generation from arbitrary text prompts. However, current methods usually focus on synthesizing texture for single static 3D objects, and struggle to handle entire families of shapes, such as those produced by procedural programs. Applying existing methods naively to each procedural shape is too slow to support exploring different parameter settings at interactive rates, and also results in inconsistent textures across the procedural shapes. To this end, we introduce ProcTex, the first text-to-texture system designed for procedural 3D models. ProcTex enables consistent and real-time text-guided texture synthesis for families of shapes, which integrates seamlessly with the interactive design flow of procedural models. To ensure consistency, our core approach is to generate texture for the shape produced by one setting of the procedural parameters, followed by a texture transfer stage to apply the texture to other parameter settings. We also develop several techniques, including a novel UV displacement network for real-time texture transfer, the retexturing pipeline to support structural changes from discrete procedural parameters, and part-level UV texture map generation for local appearance editing. Extensive experiments on a diverse set of professional procedural models validate ProcTex's ability to produce high-quality, visually consistent textures while supporting real-time, interactive applications.

Turbo-GS: Accelerating 3D Gaussian Fitting for High-Quality Radiance Fields

Novel-view synthesis is an important problem in computer vision with applications in 3D reconstruction, mixed reality, and robotics. Recent methods like 3D Gaussian Splatting (3DGS) have become the preferred method for this task, providing high-quality novel views in real time. However, the training time of a 3DGS model is slow, often taking 30 minutes for a scene with 200 views. In contrast, our goal is to reduce the optimization time by training for fewer steps while maintaining high rendering quality. Specifically, we combine the guidance from both the position error and the appearance error to achieve a more effective densification. To balance the rate between adding new Gaussians and fitting old Gaussians, we develop a convergence-aware budget control mechanism. Moreover, to make the densification process more reliable, we selectively add new Gaussians from mostly visited regions. With these designs, we reduce the Gaussian optimization steps to one-third of the previous approach while achieving a comparable or even better novel view rendering quality. To further facilitate the rapid fitting of 4K resolution images, we introduce a dilation-based rendering technique. Our method, Turbo-GS, speeds up optimization for typical scenes and scales well to high-resolution (4K) scenarios on standard datasets. Through extensive experiments, we show that our method is significantly faster in optimization than other methods while retaining quality. Project page: https://ivl.cs.brown.edu/research/turbo-gs.

GigaHands: A Massive Annotated Dataset of Bimanual Hand Activities

Understanding bimanual human hand activities is a critical problem in AI and robotics. We cannot build large models of bimanual activities because existing datasets lack the scale, coverage of diverse hand activities, and detailed annotations. We introduce GigaHands, a massive annotated dataset capturing 34 hours of bimanual hand activities from 56 subjects and 417 objects, totaling 14k motion clips derived from 183 million frames paired with 84k text annotations. Our markerless capture setup and data acquisition protocol enable fully automatic 3D hand and object estimation while minimizing the effort required for text annotation. The scale and diversity of GigaHands enable broad applications, including text-driven action synthesis, hand motion captioning, and dynamic radiance field reconstruction.

FoundHand: Large-Scale Domain-Specific Learning for Controllable Hand Image Generation

Despite remarkable progress in image generation models, generating realistic hands remains a persistent challenge due to their complex articulation, varying viewpoints, and frequent occlusions. We present FoundHand, a large-scale domain-specific diffusion model for synthesizing single and dual hand images. To train our model, we introduce FoundHand-10M, a large-scale hand dataset with 2D keypoints and segmentation mask annotations. Our insight is to use 2D hand keypoints as a universal representation that encodes both hand articulation and camera viewpoint. FoundHand learns from image pairs to capture physically plausible hand articulations, natively enables precise control through 2D keypoints, and supports appearance control. Our model exhibits core capabilities that include the ability to repose hands, transfer hand appearance, and even synthesize novel views. This leads to zero-shot capabilities for fixing malformed hands in previously generated images, or synthesizing hand video sequences. We present extensive experiments and evaluations that demonstrate state-of-the-art performance of our method.

HFGaussian: Learning Generalizable Gaussian Human with Integrated Human Features

Recent advancements in radiance field rendering show promising results in 3D scene representation, where Gaussian splatting-based techniques emerge as state-of-the-art due to their quality and efficiency. Gaussian splatting is widely used for various applications, including 3D human representation. However, previous 3D Gaussian splatting methods either use parametric body models as additional information or fail to provide any underlying structure, like human biomechanical features, which are essential for different applications. In this paper, we present a novel approach called HFGaussian that can estimate novel views and human features, such as the 3D skeleton, 3D key points, and dense pose, from sparse input images in real time at 25 FPS. The proposed method leverages generalizable Gaussian splatting technique to represent the human subject and its associated features, enabling efficient and generalizable reconstruction. By incorporating a pose regression network and the feature splatting technique with Gaussian splatting, HFGaussian demonstrates improved capabilities over existing 3D human methods, showcasing the potential of 3D human representations with integrated biomechanics. We thoroughly evaluate our HFGaussian method against the latest state-of-the-art techniques in human Gaussian splatting and pose estimation, demonstrating its real-time, state-of-the-art performance.