GenTrack: Physical Alignment for Robot-Native Motion Generation and Zero-Shot Humanoid Tracking

General-purpose humanoid trackers can execute diverse references, but their zero-shot coverage depends on large embodied corpora that are costly to extend. Text-to-motion generators offer scalable supervision, yet models trained on human motion or retargeted data inherit a gap between kinematic plausibility and robot executability. Existing one-way pipelines fix either the generated corpus or the reward tracker. We introduce GenTrack, an online generator--tracker framework that alternates execution-grounded, group-relative generator alignment with tracker training on newly generated references; anchoring and rehearsal constrain drift. On Unitree G1, we evaluate GenTrack with ProtoMotions and SONIC backbones across three zero-shot tracking splits including public AMASS and LAFAN benchmarks, and a private out-of-distribution test set of 1,024 prompt-motion pairs in the wild. The online co-training strategy consistently produces generators that output more robot-executable motions with strong semantic alignment, and trackers with markedly broader zero-shot coverage and improved tracking accuracy, especially on out-of-distribution references. These results demonstrate that joint online post-training effectively narrows the executability gap between retargeted references and robot-native motion, advancing zero-shot humanoid control without additional data collection and beyond the limitations of a static reference pool.

ClipGStream: Clip-Stream Gaussian Splatting for Any Length and Any Motion Multi-View Dynamic Scene Reconstruction

Dynamic 3D scene reconstruction is essential for immersive media such as VR, MR, and XR, yet remains challenging for long multi-view sequences with large-scale motion. Existing dynamic Gaussian approaches are either Frame-Stream, offering scalability but poor temporal stability, or Clip, achieving local consistency at the cost of high memory and limited sequence length. We propose ClipGStream, a hybrid reconstruction framework that performs stream optimization at the clip level rather than the frame level. The sequence is divided into short clips, where dynamic motion is modeled using clip-independent spatio-temporal fields and residual anchor compensation to capture local variations efficiently, while inter-clip inherited anchors and decoders maintain structural consistency across clips. This Clip-Stream design enables scalable, flicker-free reconstruction of long dynamic videos with high temporal coherence and reduced memory overhead. Extensive experiments demonstrate that ClipGStream achieves state-of-the-art reconstruction quality and efficiency. The project page is available at: https://liangjie1999.github.io/ClipGStreamWeb/

Multimodal-Prior-Guided Importance Sampling for Hierarchical Gaussian Splatting in Sparse-View Novel View Synthesis

We present multimodal-prior-guided importance sampling as the central mechanism for hierarchical 3D Gaussian Splatting (3DGS) in sparse-view novel view synthesis. Our sampler fuses complementary cues { -- } photometric rendering residuals, semantic priors, and geometric priors { -- } to produce a robust, local recoverability estimate that directly drives where to inject fine Gaussians. Built around this sampling core, our framework comprises (1) a coarse-to-fine Gaussian representation that encodes global shape with a stable coarse layer and selectively adds fine primitives where the multimodal metric indicates recoverable detail; and (2) a geometric-aware sampling and retention policy that concentrates refinement on geometrically critical and complex regions while protecting newly added primitives in underconstrained areas from premature pruning. By prioritizing regions supported by consistent multimodal evidence rather than raw residuals alone, our method alleviates overfitting texture-induced errors and suppresses noise from pose/appearance inconsistencies. Experiments on diverse sparse-view benchmarks demonstrate state-of-the-art reconstructions, with up to +0.3 dB PSNR on DTU.

Intrinsic Geometry-Appearance Consistency Optimization for Sparse-View Gaussian Splatting

3D human reconstruction from a single image is a challenging problem and has been exclusively studied in the literature. Recently, some methods have resorted to diffusion models for guidance, optimizing a 3D representation via Score Distillation Sampling(SDS) or generating a back-view image for facilitating reconstruction. However, these methods tend to produce unsatisfactory artifacts (\textit{e.g.} flattened human structure or over-smoothing results caused by inconsistent priors from multiple views) and struggle with real-world generalization in the wild. In this work, we present \emph{MVD-HuGaS}, enabling free-view 3D human rendering from a single image via a multi-view human diffusion model. We first generate multi-view images from the single reference image with an enhanced multi-view diffusion model, which is well fine-tuned on high-quality 3D human datasets to incorporate 3D geometry priors and human structure priors. To infer accurate camera poses from the sparse generated multi-view images for reconstruction, an alignment module is introduced to facilitate joint optimization of 3D Gaussians and camera poses. Furthermore, we propose a depth-based Facial Distortion Mitigation module to refine the generated facial regions, thereby improving the overall fidelity of the reconstruction. Finally, leveraging the refined multi-view images, along with their accurate camera poses, MVD-HuGaS optimizes the 3D Gaussians of the target human for high-fidelity free-view renderings. Extensive experiments on Thuman2.0 and 2K2K datasets show that the proposed MVD-HuGaS achieves state-of-the-art performance on single-view 3D human rendering.