4D Scene Understanding

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4 papers in the last four weeks, up 33% on the four weeks before. 0.0% of all new papers.

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Latest papers 27

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Argos: Adapt Rich Geometric Priors for Generalizable Online Scene-Change-Detection
Oct 7, 2026Ruihan Xu, Jiae Yoon, Kaichen Zhou +2Robotic Perception 4D Scene Understanding
MIT
DeepTopoClustering: Unsupervised Derivation of Surface Process Taxonomy from 4D Point Clouds for Topographic Monitoring
Oct 7, 2026Jiapan Wang, Daan Hulskemper, Mathilde Letard +2Deep Clustering 4D Scene Understanding
Remote Sensing Applications, TUM School of Engineering and Design, Technical University of Munich, Munich, Germany · Department of Geoscience & Remote Sensing, Delft University of Technology, Delft, The Netherlands
LighTROcc: Lightweight 4D Occupancy Forecasting via Instance-Centric 3D Gaussians
Oct 7, 2026Hwanhee Jung, SeungHyeon Kim, Inkyu Koo +33D Occupancy Prediction 4D Scene Understanding
Korea University · University of Texas at Austin · Korea Advanced Institute of Science & Technology
Dyna3: VLM-Guided Training-Free 4D Reconstruction via Depth Foundation Models
Oct 1, 2026Xinhao Xiang, Weiyang Li, Zhijie Zheng +2Multi-View Depth Estimation 4D Reconstruction
IFM Lab, University of California, Davis, CA, USA · Genies Inc., CA, USA
A Compact Explicit 4D Representation for Dynamic Scenes
Oct 1, 2026Di Yang, Zhihao Li, Yanhai Xiong +1Dynamic Scene Reconstruction Novel View Synthesis
College of William & Mary · SparcAI Inc.
ChronoGraph: Functional 4D Scene Graphs with Vision-Language Models for Interaction Understanding and Grounded Planning
Sep 30, 2026Chenyangguang Zhang, Malgorzata Gwiazda, Guanlong Jiao +5Graph-Based Planning 4D Scene Understanding
ETH Zurich · Technical University of Munich · University of British Columbia +3
S4VY: Segment Anything in Feed-Forward 4D Visual Geometry
Sep 29, 2026Jingdong Zhang, Xin Li, Jan Kautz +2Instance Segmentation Promptable Image Segmentation
Texas A&M University, College Station · NVIDIA
Unfold The World: Factorize 4D Properties in Reinforcing Spatial Reasoning
Sep 3, 2026Yijun Yang, Shenghe Zheng, Wenbo Li +8Visual Spatial Reasoning 3D Spatial Reasoning
The Hong Kong University of Science and Technology (Guangzhou) · Joy Future Academy · The Hong Kong University of Science and Technology +1
CL4D: Contrastive Language-4D Pretraining for Vision-Language Reasoning in Dynamic Scenes
Aug 19, 2026Kumal Hewagamage, Isuranga Senavirathne, Sasika Amarasinghe +4Vision-Language Models Vision-Language Alignment
University of Moratuwa, Sri Lanka · Singapore-MIT Alliance for Research & Technology (SMART) Centre, Singapore · Agency for Science, Technology and Research (A*STAR), Singapore
R4DSG: Relative 4D Scene Graph Memory for Object-Centric Question Answering in Long Egocentric Video
Aug 11, 2026Ke Ma, Yamin Mao, Weiming Li +5Egocentric Video QA Video QA
College of Design and Innovation Tongji University Shanghai, China · Samsung R&D Institute China - Beijing Beijing, China · Shanghai Jiao Tong University Shanghai, China +2
Radar4D-VLM: Proposal-Grounded Temporal 4D Radar Reasoning Across Frozen Language Models
Aug 4, 2026Jiaju Han, Xuemeng Sun, Qike Zhang +6VLMs for Autonomous Driving Millimeter-Wave Radar
China University of Petroleum-Beijing at Karamay · Shenzhen Research Institute of Big Data · Shanghai Jiao Tong University +2
TSOG: A Format For Temporally And Spatially Ordered Gaussians
Jul 30, 2026Shady Gmira, Evangelos Alexiou, Emmanouil Potetsianakis +13D Gaussian Splatting 4D Scene Understanding
Xiaomi Technology Netherlands B.V, The Hague, The Netherlands
SM4RT: Learning Structured Motion Geometry for 4D Reconstruction
Jul 24, 2026Shing Ho J. Lin, Wenzhao Zheng, Dong Zhuo +33D ViTs 4D Reconstruction
Intelligent Vision Group, Tsinghua University
IGGT4D: Streaming 4D Instance-Grounded Geometry Transformer
Jul 21, 2026Zhengyu Zou, Hao Li, Kuixuan Jiao +73D ViTs Streaming 3D Reconstruction
Horizon Robotics · S-Lab, Nanyang Technological University · Institute of Artificial Intelligence, Hefei Comprehensive National Science Center
4DR360: State Reasoning for Joint 3D Detection and Occupancy Prediction in 4D Radar-Camera Full-Scene Perception
Jul 10, 2026Xiaokai Bai, Lianqing Zheng, Runwei Guan +3Camera-Radar Fusion Millimeter-Wave Radar
College of Information Science and Electronic Engineering, Zhejiang University. · School of Automotive Studies, Tongji University. · Thrust of Artificial Intelligence, Hong Kong University of Science and Technology.
RynnWorld-4D: 4D Embodied World Models for Robotic Manipulation
Jul 7, 2026Haoyu Zhao, Xingyue Zhao, Siteng Huang +3Language-Conditioned Robot Manipulation Bimanual Robotic Manipulation
DAMO Academy, Alibaba Group · Hong Kong Embodied AI Lab · CUHK +1
One Video, One World: Turning Monocular Video into Physical 4D Scenes
Jun 30, 2026Junhao Chen, Boran Zhang, Mingjin Chen +74D Reconstruction 3D Reconstruction
Shenzhen International Graduate School, Tsinghua University, China · University of Science and Technology of China, China · The Hong Kong Polytechnic University, China +4
4DVLT: Dynamic Scene Understanding with Worldline-Centered Vision-Language Tracking
Jun 21, 2026Chaoyue Li, Boxue Yang, Shengyao Zhou +3Visual Object Tracking Vision-Language Grounding
Huazhong University of Science and Technology · Shanghai Jiao Tong University · Zhejiang University
4DP-QA: Scalable QA for 4D Perception in Vision Language Models
Jun 10, 2026Seokju Cho, Abhishek Badki, Hang Su +5VLM Evaluation VLM Reasoning
1NVIDIA · 2Yale University · *Work done during internship at NVIDIA. +1
Not All Points Are Equal: Uncertainty-Aware 4D LiDAR Scene Synthesis
Jun 1, 2026Xiang Xu, Alan Liang, Youquan Liu +53D Scene Generation Generative Modeling
1NUAA · 2NUS · 3FDU +4
No Pose, No Problem in 4D: Feed-Forward Dynamic Gaussians from Unposed Multi-View Videos
May 21, 2026Matteo Balice, Yanik Kunzi, Chenyangguang Zhang +33D Gaussian Splatting 4D Reconstruction
1Politecnico di Milano · 2ETH Zürich · 3ETH AI Center
LMM-Track4D: Eliciting 4D Dynamic Reasoning in LMMs via Trajectory-Grounded Dialogue
May 19, 2026Chaoyue Li, Yongxue Xu, Jie Feng +1Spatiotemporal Reasoning Multimodal Large Language Models
Huazhong University of Science and Technology · Sun Yat-sen University · Beihang University +1
4DThinker: Thinking with 4D Imagery for Dynamic Spatial Understanding
May 7, 2026Zhangquan Chen, Manyuan Zhang, Xinlei Yu +9Visual Spatial Reasoning Video Reasoning
Tsinghua University, SIGS · Meituan · The Chinese University of Hong Kong +3
Syn4D: A Multiview Synthetic 4D Dataset
May 6, 2026Zeren Jiang, Yushi Lan, Yihang Luo +83D Point Tracking 4D Reconstruction
VGG, University of Oxford · Nanyang Technological University · Naver Labs Europe
Seeing Without Eyes: 4D Human-Scene Understanding from Wearable IMUs
Apr 23, 2026Hao-Yu Hsu, Tianhang Cheng, Jing Wen +24D Reconstruction Wearable Sensing
University of Illinois at Urbana-Champaign
Vista4D: Video Reshooting with 4D Point Clouds
Apr 23, 2026Kuan Heng Lin, Zhizheng Liu, Pablo Salamanca +9Camera-Controlled Video Generation 4D Reconstruction
1Eyeline Labs · 3Columbia University · 4UCLA +3
Stereo4DWalker: Learning 4D-aware Embodied Urban Navigation from Internet Stereo Videos
Dec 11, 2025Wentao Zhou, Xuweiyi Chen, Vignesh Rajagopal +3Embodied Navigation Robot Navigation
University of Virginia

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Argos: Adapt Rich Geometric Priors for Generalizable Online Scene-Change-Detection

Ruihan Xu, Jiae Yoon, Kaichen Zhou, Ue-Hwan Kim+1

MIT

Robotic Perception 4D Scene Understanding Dynamic Scene Reconstruction

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Robots operating in dynamic environments require reliable detection of how their surroundings change over time. Existing learning-based methods largely rely on pairwise 2D image features, which struggle under large viewpoint changes and occlusions, are sensitive to noise, and show limited generalization across domains, while explicit 3D approaches typically require costly offline optimization. We show that the implicit 3D knowledge of Geometric Foundation Models (GFMs) provides a strong basis for addressing these limitations. We introduce Argos, which adapts GFM features for joint scene change detection and 3D reconstruction. To address data scarcity and take a step toward a foundation model for scene change detection, we introduce a large-scale benchmark comprising two synthetic datasets and one real-world dataset, and train jointly across diverse datasets to improve cross-domain generalization. We further introduce Argos-SLAM, a real-time system designed for robotics, which performs online change detection and change-aware 4D mapping. Across benchmarks, our framework substantially outperforms existing baselines, with gains of up to 42.01% in change IoU and 27.91% in F1, while supporting scalable deployment in changing real-world environments.

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Latest papers 27