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cs.GR: explore 104 source-linked works published from 2023 to 2026, with original documents and citations.

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Includes records with this source-supplied label or an explicit phrase match in their metadata. Matches indicate a mention, not proof that a paper uses a method or tests a material. Source versions are consolidated by DOI.

Sources: arxiv. Collection updated 2026-09-16. Counts describe this index, not the complete source archives.

ProAct: Harnessing Streaming Motion Generation and Agentic Reasoning for Real-Time Embodied Social Interaction

Real-time embodied social interaction places two equally demanding requirements on an agent: continuously generating fluent multimodal interaction behavior, and proactively reasoning over accumulated dialogue and visual context to decide when to take initiative. These requirements must both be satisfied under a strict latency budget, making them difficult to meet simultaneously. We present ProAct, a dual-system framework that manages these time-critical requirements by integrating a low-latency Behavioral System for streaming multimodal interaction with a slower Cognitive System that performs long-horizon social reasoning and produces high-level proactive intentions. The Cognitive System incorporates an efficient memory mechanism and a user-motivation prediction module to reason over accumulated dialogue and visual context and determine when proactive intervention is appropriate. The Behavioral System further includes an intention-conditioned streaming flow-matching motion generator with a disentangled ControlNet branch, which translates deliberative intentions into continuous non-verbal behavior without disrupting interaction fluency. We deploy ProAct on a physical humanoid robot and validate the framework through comprehensive experiments, including real-world user studies, motion-generation benchmarks, and evaluation on ProActBench, a new, targeted benchmark for evaluating proactive trigger detection and restraint in embodied interaction.

cs.RO↗

A Real-Calibrated Synthetic-First Data Engine

Modern computer vision systems increasingly encounter performance limitations in data-scarce domains, where collecting large-scale, high-quality labeled data is costly or impractical. While controllable diffusion models enable scalable synthetic image generation, directly applying synthetic augmentation often leads to unstable performance gains due to dataset-level quality issues and insufficient feedback mechanisms. In this work, we present a Real-Calibrated Synthetic-First Data Engine, a modular data engineering framework that combines controllable diffusion generation and multi-stage curation/filtering within a unified pipeline, with optional support for uncertainty-driven selection and human verification. Instead of introducing new generative algorithms, our approach focuses on systematic dataset construction for improving the practical reliability of synthetic augmentation in low-data regimes. The framework is implemented as a modular CLI-based pipeline, where generation, filtering, selection, and validation components can be independently configured and replaced. This design emphasizes reproducibility, flexibility, and practical deployment in real-world data workflows. Through empirical evaluation centered on human pose estimation, we show that synthetic data improves a real-data baseline when used as near-zero-human-annotation-cost augmentation alongside real anchors, while synthetic-only training remains substantially below real-only performance. Supplementary segmentation diagnostics show the same domain-gap pattern. These results highlight the practical value of data-centric orchestration for low-data augmentation.

eess.IV↗

MidSurfNet: Learning Face Pairing for Mid-surface Abstraction of Thin-walled CAD Models

Mid-surface abstraction is an important preprocessing step for finite element analysis of thin-walled CAD models, and face pairing is its central subproblem. Existing face-pairing methods rely on handcrafted geometric criteria whose thresholds are hard to tune when a model has multiple local wall thicknesses; their groupings depend on threshold settings and processing order, so the same model can yield inconsistent results. We present MidSurfNet, a learning-based face-pairing method that couples a learned face-pair scorer with a deterministic face-group composition. The scorer evaluates every unordered face pair with two separately learned evidence streams: a geometry stream combining continuous pairing criteria with a conditional shape correction, and an attributed-topology stream over the B-Rep face-adjacency graph. A pair-conditioned gate fuses the two streams, and independent per-pair decisions retain opposing-face support relations at one operating threshold selected once on validation data, replacing rather than adding to the per-model thresholds of rule-based pipelines. Under a connected-and-bipartite condition, the composition stage organizes the retained relations into variable-cardinality m-to-n face groups, each independent of processing order for a fixed support graph and unique up to its two side labels. We also construct the MidSurf dataset, a benchmark of 1,575 manually annotated CAD models. On the test set, MidSurfNet attains a pair-level F1-Score of 87.32%, 23.22 percentage points above the strongest rule-based baseline, and an end-to-end Completion Rate of 75.42%, including 61.90% on the multi-wall-thickness category the evaluated rule-based implementations do not support. We demonstrate practical utility by generating mid-surfaces from the composed face groups through an industrial mid-surface API and running finite element analyses on the resulting shell models.

cs.GR↗

PointGT: Simultaneous Geometry and Texture Editing for Point-Based Representations

We present PointGT, a point-based 3D representation that enables simultaneous editing of object geometry and appearance. Existing reconstruction and view synthesis techniques produce volumetric 3D representations that are high-quality and photorealistic, but are difficult to edit. In particular, recent efforts to enable texture editing for 3D Gaussian Splatting representations are not compatible with geometry edits and deformations. Our method combines a point-based representation that is well-suited for geometry deformations with a learned UV mapping technique that enables high-resolution texture editing. We show that PointGT enables fine-grained editing of both geometry and texture in point-based neural representations with high rendering quality.

cs.CV↗

P-CORE: Self-Supervised Surface Consistency for Point-Based Neural Editing

Advances in neural rendering have enabled high-fidelity multi-view reconstruction of 3D scenes. However, free-form non-rigid shape editing remains a significant challenge. Point-based neural representations are highly desirable for multi-view reconstruction because they lack fixed connectivity, which does not constrain the learned surface topology to that of the initialization. Yet this same property causes point-based representations to struggle with holes and surface discontinuities under large deformations. To address this, we propose a novel self-supervised method to enable point-based representations to adapt to large deformations without requiring ground truth multi-view images of deformed geometry. The key idea is to generate random deformations and to ensure consistency in the predicted surface before and after deformation. In particular, the surface prediction from the deformed point cloud should be the same as the deformation applied to the surface prediction from the original point cloud. We incorporate our approach into attention-based point representations, which differ from splatting-based point representations in their use of a learned interpolation kernel between points as opposed to a Gaussian kernel around each point. This learned interpolation kernel can learn to adapt to large deformations, without requiring addition or removal of points. We show that our framework significantly enhances its robustness to large deformations. Experiments on synthetic geometry editing benchmarks (Neural Editor, Objaverse) demonstrate that our approach outperforms existing point-based methods in zero-shot editing and significantly reduces artifacts. Furthermore, qualitative results on the DTU and Mip-NeRF 360 datasets demonstrate our method's effectiveness on real-world scenes.

cs.CV↗

TruncGradGS: Improved 3D Gaussian Splatting via Truncated Gradient Updates

3D Gaussian Splatting has become a de facto scene representation for novel view synthesis, yet robustly learning 3D Gaussian primitives from visual input remains challenging. Standard optimization relies on gradient-based updates, but a common issue is the gradient vanishing phenomenon: a pixel far from a Gaussian primitive often has diminishing gradient magnitudes to influence primitive attributes, resulting in suboptimal scene reconstruction. In this paper, we propose a method to address gradient vanishing with a piecewise truncated gradient formulation that improves the optimization stability and robustness to initializations. We show that our method consistently improves 3D Gaussian Splatting with random and COLMAP initializations while being generalizable across static and dynamic Gaussian Splatting. As a by-product, we also examine the limitations of current benchmarks for dynamic scenes, and introduce a novel dataset for benchmarking dynamic Gaussian Splatting using synthetic 3D scenes. We demonstrate the effectiveness of our method in both static and dynamic settings for the public benchmarks and our proposed dataset.

cs.CV↗

Building Pretraining Data for World Models: An Unreal Engine-Based Pipeline for Action-Conditioned Video Generation

Action-conditioned video models require large-scale visual data paired with control signals that are temporally aligned with the resulting scene transitions. Such supervision is difficult to obtain from ordinary real-world video because the actions that caused each visual change are typically unknown. We present a large-scale synthetic data production pipeline built on Unreal Engine for generating action-conditioned, multi-view video. To accommodate the different execution requirements of real-time physics and high-quality offline rendering, the pipeline executes trajectory generation and final rendering in two stages: Stage I runs real physics in PIE and records per-frame character states, control inputs, and camera states into an intermediate trajectory representation; Stage II replays those trajectories in a new engine process and renders them offline with Movie Render Queue (MRQ). Around this core, we develop a distributed production system with cache-aware task partitioning, node-local slot scheduling, automated scene screening, aesthetic and luminance filtering, partial-output recovery, asynchronous upload, and continuous cluster health monitoring. The production cluster contains 25 servers with eight NVIDIA RTX 5090 GPUs per server. From 2,384 asset packs, 429 levels were retained for production together with a pool of 40 humanoid characters. The pipeline has produced 2,691 hours of 1080p video and 6,076 hours of 720p video. We describe the system architecture, the implementation decisions that emerged from production failures, and the limitations of using perceptual quality proxies for world-model data curation. The pipeline described in this report constitutes the Unreal Engine synthetic-data production component used in EchoWM.

cs.CV↗

ReRoom: Blending Virtual and Physical Contexts for In Situ Room Planning in Mixed Reality

Planning a real domestic space is an in situ authoring process: users evaluate candidate layouts at true scale, refine their intent, and carry accepted decisions into later iterations. Existing approaches either separate layout editing from the physical room or provide limited support for evaluating and refining whole-room proposals in situ. We present ReRoom, a mixed-reality system for in situ room-layout authoring. ReRoom presents a shared layout state through a virtual room proxy spatially registered to the target room, allowing interaction and layout generation to remain grounded in the physical context. Users refine the current proposal through direct manipulation or language and preserve accepted placements, allowing each generated update to continue the same evolving design. To balance layout quality with generation efficiency, ReRoom uses a skill-guided layout agent whose room-layout design skill operationalizes three principles that we formulate by synthesizing established interior-design guidance for real-room layout generation. The skill grounds these principles in a normalized representation of the scanned room and reusable geometric checks. Evaluations show that ReRoom produces high-quality layouts for non-rectangular rooms, while its in situ workflow improves the room-planning experience over an otherwise equivalent off-site VR workflow. Code will be released upon acceptance of the paper.

cs.GR↗

TileGS: Tile-Local Depth Binning for Gaussian Splatting Rasterization

Real-time 3D Gaussian Splatting (3DGS) achieves high rendering quality, but standard rasterization still traverses a globally sorted tile stream that creates long per-tile ranges and heavy geometry-attribute traffic. We present TileGS, a tile-local reorganization of Gaussian splatting. TileGS turns each long tile range into a sequence of shorter depth-local ranges, rasterizes those ranges in front-to-back order, and applies selective repair where coarse ordering is insufficient to match baseline compositing. Across a 9-scene benchmark on desktop and laptop Ada GPUs, our default No-GW (No Geometry-Write) variant delivers a mean 1.44x raster-kernel speedup on RTX 4090 and mean end-to-end frame speedups of 1.069x on RTX 4090 and 1.094x on RTX 1000 Ada over gsplat--a widely used optimized open-source 3DGS implementation--while matching the gsplat output up to numerical noise (|Delta PSNR| < 0.001 dB, |Delta SSIM| < 0.001, |Delta LPIPS| < 0.001). Full-suite RTX 4090 Nsight Compute profiling reveals TileGS is faster despite lower SM throughput, lower active-warp occupancy, and higher DRAM traffic, while total SASS thread instructions fall by 1.26x. Source-attributed profiling confirms that geometry attributes dominate the remaining memory pressure (85.8% of total raster traffic and 88.6% of excess sectors). Together, these counters support the interpretation that TileGS improves raster performance by reducing effective raster traversal work, rather than by reducing byte volume, improving coalescing, increasing occupancy, or directly reducing measured warp divergence.

cs.GR↗

Reparametrizing 3D Gaussian Splatting for Real-Time Palette-based Color and Luminance Editing

Professional color editing requires precise control over both color (hue and saturation) and lightness, ideally through separate, independent controls. We present a real-time interactive color editing framework for 3D Gaussian Splatting that supports palette-based recoloring, per-palette tone curves for color-aware luminance adjustment, and pixel-level color constraints. Rather than training a new representation from scratch, we reparameterize the spherical harmonics of a pretrained vanilla 3DGS to encode view-dependent palette weights. We simultaneously solve for weights and palette colors via a loss based on image-space sparsity. Luminance editing is realized as a per-pixel weight shift along the achromatic axis, which we show is equivalent to a per-pixel palette-aware luminance edit. This view-space formulation addresses a core limitation of prior primitive-space methods, where alpha-blending breaks per-Gaussian sparsity and causes edits to bleed into unintended regions. Our edits run in tens of milliseconds via an iteratively reweighted least squares and damped block-coordinate descent that couples tone curves and palette shifts under view-space sparsity. Our representation can be efficiently baked back into a vanilla 3DGS, preserving compatibility with standard viewers. We demonstrate sparser, more localized edits than prior palette-based 3DGS methods, while enabling independent luminance control per palette color and view-consistent pixel-level constraints, capabilities previously unavailable for 3DGS.

cs.GR↗

STyMo: Fast and Controllable Few-Shot Motion Style Transfer

Supporting a wide variety of motion styles is critical for creating diverse virtual characters, but current methods either require large stylized datasets or pre-trained models that cannot generalize beyond their training distribution. We present STyMo, a few-shot approach that learns motion style from only seconds of paired data and trains in one to two minutes. Our key insight is to decompose style into two components: a static component capturing time-invariant posture, and a temporal component capturing frame-wise dynamics. This decomposition yields an interpretable system where posture intensity, temporal exaggeration, and per-body-region style can be adjusted at runtime. Furthermore, the reduction in required training data and computation time structurally permits an iterative authoring workflow. To ensure robustness on arbitrary inputs, we further introduce a stylizability gate that automatically prevents artifacts on out-of-distribution motions. We demonstrate results across diverse motion styles, from subtle emotional variations to exaggerated character archetypes, and release our processed paired dataset to facilitate future research.

cs.GR↗

LayoutShop: Content-Constrained Exploratory Design of Creative Article Layout

We present LayoutShop, a novel computational framework for designing creative layouts that frame a given article. Inspired by the actual article layout design process, we enable users to create or select layout templates for conceptualization. These templates help construct a layout design space to extract eligible layout structures. Our algorithm then determines the geometry of the extracted layout structures to frame the given article via an optimization approach. We then employ two neural networks for layout assessment, and the high-quality outputs are returned to users for selection. We conducted a user study to evaluate the framework's usability and the quality of the article layouts it produces. The results of the user study confirmed that our framework can effectively help users create high-quality article layouts.

cs.GR↗

Blended Chart Surfaces: A Seamless Explicit Representation for Smooth Surface Fitting

A surface representation suitable for geometry processing should be compact and explicit, provide global smoothness guarantees, support a wide range of surface topologies, and offer reliable access to differential quantities such as normals and surface energies, while remaining compatible with modern differentiable optimization. Existing neural representations typically sacrifice one or more of these properties: implicit fields typically require iso-surfacing for downstream use, while explicit neural maps are constrained by canonical-domain parametrizations or exhibit seam artifacts between local charts. We introduce Blended Chart Surfaces, a compact, network-free, explicit representation that is smooth by construction and anchored to user-provided topology. Given a coarse proxy mesh encoding the intended surface topology and approximate geometry, Blended Chart Surfaces jointly optimize for a polynomial map at each proxy vertex using an off-the-shelf optimizer to fit to an implicit target shape, avoiding the need for an input parametrization. Neighboring maps are fused using a smooth 'one-ring coordinate' blending scheme, decoupling topology and coarse geometry (carried by the proxy) from geometric details (carried by the local patches). The surface is globally smooth, fully differentiable, and enables stable evaluation of derivatives, making differential quantities and surface energies directly accessible. Additionally, our construction is equivariant to rigid motions and scaling of the proxy mesh. We evaluate Blended Chart Surfaces on various topologies and geometric complexity, and compare against explicit alternatives including interpolating-function baselines and mesh-displacement MLPs. Across these, Blended Chart Surfaces achieve a favorable trade-off among compactness, simplicity, access to differential quantities, and expressivity while remaining smooth across patch boundaries.

cs.GR↗

Domain-Varying 2D Green' s Functions for Cage-based Deformation

In this work, we propose a novel theoretical view of cage-based deformation based on domain-varying Green' s functions and treat this domain as a new control space for the deformation effects. Harmonic Coordinates (HC) and Green Coordinates (GC) are classic methods in cage-based deformation and serve as the theoretical foundation for shape editing in a range of practical deformation tools. Our method revisits these two classical approaches. Specifically, we propose a framework based on Green' s functions across diverse domains (independent of the cage-enclosed domain) to unify these two techniques. To our knowledge, this represents the first such attempt in nearly two decades. Based on this perspective, we propose a novel cage-based deformation technique that introduces a new control space and utilizes domain-varying Green' s functions to yield varying deformation effects. Our method also establishes a continuous transition of effects from HC to GC as the Green' s function domain $Θ$ expands from the cage region $Ω$ to the entire $\mathbb{R}^2$. We call our method Domain-Varying Green Coordinates (DVGC). When $Θ$ is a disk or a rectangle, the Green' s function possesses analytic or semi-analytic expressions, respectively, enabling the DVGC to be computed without finite element discretization. Furthermore, when $Θ$ is a disk, the DVGC admit a closed-form expression for 2D simplicial cages, thereby eliminating the need for numerical integration. Experiments demonstrate that our method provides a novel control space ranging from more consistent with the cage to more shape-preserving, generating diverse deformation effects by varying the Green' s function domains.

cs.GR↗

Neuro-Symbolic Geometric Abstraction (NeuSOGA): From Observations to Symbolic Mathematical Representations

A fundamental challenge in artificial intelligence is the transformation of observations into explicit symbolic representations suitable for abstraction, interpretation, and reasoning. While modern AI systems achieve remarkable perceptual capabilities through large-scale statistical learning, the resulting knowledge is typically encoded within latent parameters that are difficult to inspect or manipulate analytically. Inspired by Neuro-Symbolic AI and theories of human abstraction, this paper investigates the formation of symbolic mathematical representations from geometric observations. We propose NeuSOGA (Neuro-Symbolic Geometric Abstraction), a framework that progressively transforms observations into topological abstractions, geometric abstractions, and ultimately symbolic mathematical representations. The architecture combines topology-guided structural discovery using Euclidean Distance Transforms, foundation-model perception using Segment Anything, adaptive multi-scale geometric abstraction, and symbolic synthesis through Implicit Area Splines. The resulting representation is an analytical implicit model supporting arbitrary-order smoothness, additive composition, and closed-form evaluation. Unlike neural latent encodings, the generated representation remains interpretable, editable, and mathematically explicit. Experiments on ModelNet40 point clouds, arbitrary-view projections, and segmented optical observations demonstrate that NeuSOGA transforms diverse observations into compact symbolic representations while preserving essential geometric and topological structure across sensing modalities and viewing directions. NeuSOGA provides an interpretable and explainable pathway from observation to symbol and establishes

cs.AI↗

WildFab: Multi-Axis 3D Printing from Models in the Wild

Multi-axis 3D printing enables support-free fabrication and improved part quality, but robustly processing real-world geometries remains challenging. Models from design workflows or direct data acquisition often contain solid--shell combinations and non-manifold structures. Handling such models in the wild typically requires time-consuming geometry repair, which may alter the intended geometry. In this work, we present WildFab, a computational framework for multi-axis 3D printing that directly computes spatial toolpath and global collision-free motion from input models. Our pipeline builds on a hybrid query representation that combines a neural unsigned distance field (UDF) with a regularized generalized winding number field (reg-GWN). The UDF supplies differentiable surface-distance and direction queries, while the reg-GWN resolves near-surface ambiguity in the fitted UDF by providing reliable surface localization and a solid-void indicator. Based on this representation, we introduce a high-precision spatial toolpath computation algorithm that iteratively projects points between optimized guidance-field level sets and reg-GWN gradient-magnitude ridges. Subsequently, we develop an efficient and robust coarse-to-fine collision checking scheme for motion planning: UDF-based rejection first identifies potential collisions, while time-varying reg-GWN verification accurately resolves collision pairs for both solid and shell components. We validate WildFab on diverse inputs, demonstrating successful computation from non-manifold parametric surfaces, voxelized topology-optimization results, implicit models, raw scanned point clouds, and non-watertight meshes. The fabrication results highlight our method's ability to advance end-to-end design-to-3DP workflows.

cs.GR↗

Telligram: Text-Driven Calligram Generation via Diffusion-Guided Skeleton Optimization

Compact calligram generation aims to form a semantic shape while keeping letters recognizable. Most existing methods are shape-conditioned and mainly solve downstream letter layout inside a given contour. We study text-only calligram generation without an input contour. This setting is difficult because semantic shape formation and letter readability strongly interfere with each other when optimized in a single stage. Pushing the word toward a clear figure can easily damage glyph structure, while preserving readable letters can weaken the target shape. To address this difficulty, we present Telligram, a training-free, low-tuning, two-stage framework composed of Semantic Occupancy Prior Formation and Readability-Constrained Glyph Realization. The first stage uses Variational Score Distillation (VSD) with structured skeleton optimization and hierarchical gradient projection to produce a semantic occupancy prior. The second stage converts this occupancy prior into per-letter regions and reconstructs readable glyph layouts through lightweight geometric processing. The framework generates coherent and creative word-level semantic calligrams directly from text prompts.

cs.GR↗

LightBridge: Feed-Forward Generative Relighting for 3D Gaussian Splatting

3D Gaussian Splatting (3DGS) achieves high-quality, real-time novel view synthesis, but the resulting assets have baked-in illumination and cannot be easily relit. Inverse rendering methods optimize simplified reflectance and illumination models for each scene, limiting efficiency and relighting quality. Recent generative approaches leverage large diffusion models for realistic lighting edits, but applying them to 3DGS typically requires an additional per-scene optimization stage to bake the edited appearance into the representation. We present LightBridge, a feed-forward generative framework for controllable relighting of complete 3DGS assets in a single pass. To enable feed-forward training, we construct a large-scale Multi-Illumination Relighting Dataset with paired source and target observations of the same scenes. Latent Bridge Relighting Diffusion models relighting as source-to-target transport in latent space, enabling one-step extraction of 2D visual tokens without iterative diffusion sampling. A Gaussian Propagation Transformer uses a point transformer with sparse image-to-point self-attention followed by point-to-image cross-attention to efficiently propagate these cues across the complete 3DGS, while avoiding full attention over all image and Gaussian tokens. Experiments validate these designs, demonstrating competitive relighting quality and efficient single-pass prediction of complete relit 3DGS assets without scene-specific optimization. The code and dataset will be made publicly available upon acceptance.

cs.GR↗
Compare source metadata on this page
WorkPublishedSource identifierSource
ProAct: Harnessing Streaming Motion Generation and Agentic Reasoning for Real-Time Embodied Social Interaction2026-09-032602.14048arxiv
A Real-Calibrated Synthetic-First Data Engine2026-09-032605.09699arxiv
MidSurfNet: Learning Face Pairing for Mid-surface Abstraction of Thin-walled CAD Models2026-09-032606.01891arxiv
PointGT: Simultaneous Geometry and Texture Editing for Point-Based Representations2026-09-032609.03341arxiv
P-CORE: Self-Supervised Surface Consistency for Point-Based Neural Editing2026-09-032609.03349arxiv
TruncGradGS: Improved 3D Gaussian Splatting via Truncated Gradient Updates2026-09-032609.03534arxiv
Building Pretraining Data for World Models: An Unreal Engine-Based Pipeline for Action-Conditioned Video Generation2026-09-032609.03557arxiv
ReRoom: Blending Virtual and Physical Contexts for In Situ Room Planning in Mixed Reality2026-09-032609.03596arxiv
TileGS: Tile-Local Depth Binning for Gaussian Splatting Rasterization2026-09-032609.03613arxiv
Reparametrizing 3D Gaussian Splatting for Real-Time Palette-based Color and Luminance Editing2026-09-032609.03897arxiv
STyMo: Fast and Controllable Few-Shot Motion Style Transfer2026-09-032609.04500arxiv
LayoutShop: Content-Constrained Exploratory Design of Creative Article Layout2026-09-032609.05098arxiv
Blended Chart Surfaces: A Seamless Explicit Representation for Smooth Surface Fitting2026-09-022606.18069arxiv
Domain-Varying 2D Green' s Functions for Cage-based Deformation2026-09-022608.31003arxiv
Neuro-Symbolic Geometric Abstraction (NeuSOGA): From Observations to Symbolic Mathematical Representations2026-09-022609.01408arxiv
WildFab: Multi-Axis 3D Printing from Models in the Wild2026-09-022609.02413arxiv
Telligram: Text-Driven Calligram Generation via Diffusion-Guided Skeleton Optimization2026-09-022609.02511arxiv
LightBridge: Feed-Forward Generative Relighting for 3D Gaussian Splatting2026-09-022609.02543arxiv

These are bibliographic comparisons, not experimental rankings. Follow the original document for methods and conditions.