#01Oct 29, 2026
cs.CV
LucidLyra: Feed-Forward Generative 3D Scene Reconstruction and Joint Understanding via Multi-Task Distillation
Oliver Hahn, Rodrigo Marcuzzi, Sangeetha Grama Srinivasan and 7 more
We present LucidLyra, a framework that makes generatively reconstructed 3D scenes directly queryable for semantics and instances in a feed-forward manner from video latents. While generative 3D reconstruction can synthesize virtual environments from a single image, downstream applications in robotics and physical AI require not only visual realism but also access to scene semantics and object identities. Existing 3D understanding approaches, however, require captured multi-view scenes, have limited generalization capabilities, or rely on expensive per-scene processing and optimization. To bridge this gap, our method distills complementary knowledge from a camera-controlled video diffusion model and frozen 2D vision foundation models into a unified model to jointly infer 3D Gaussians encoding geometry, appearance, open-vocabulary semantics, and class-agnostic instance cues. The resulting scenes support novel-view rendering, open-vocabulary segmentation, and object grouping without per-scene optimization, while training requires neither manual 3D annotations nor captured multi-view data. Our method outperforms baselines combining state-of-the-art 3DGS segmentation approaches with generative 3D scene reconstruction on curated synthetic and real-image-conditioned benchmarks, while preserving reconstruction quality. Furthermore, our latent formulation naturally extends to monocular video, reconstructing structured dynamic 3D scenes across time. By turning renderable but unstructured outputs into queryable 3D worlds, LucidLyra enables downstream applications including 3D scene editing, 3D asset mining, and robotic simulation.
#02Oct 29, 2026
cs.RO
SymAnt: Grounding Long-Horizon Action Anticipation with Adaptable Symbolic Priors
Fnu Aryan, Yaqi Xie, Joseph Campbell and 6 more
As robots and intelligent systems increasingly interact with humans, they must anticipate long sequences of future actions from only brief observations. While purely neural models typically require extensive observations to predict future actions and remain difficult to interpret and adjust, symbolic priors offer a structured alternative. To this end, we introduce SymAnt, a novel neuro-symbolic approach that unifies the expressiveness of neural networks with the structured reasoning of scene and knowledge graphs. Given a short video, SymAnt performs a joint-search over both graphs to construct a symbolic context, enabling unified reasoning over spatial relationships, object attributes, affordances, and associated actions. This symbolic context serves as a prior for an iterative refinement process that progressively generates and improves the sequence of future actions. By grounding predictions in symbolic context, SymAnt anticipates long-horizon actions from short observation windows in a parameter-efficient manner, while enabling users to directly edit the underlying knowledge to adjust predictions without further training. Through our experiments, we demonstrate the effectiveness of SymAnt, particularly when only short observation contexts are available, across five diverse datasets: Breakfast, 50 Salads, EPIC-KITCHENS, EGTEA Gaze+, and Assembly101.
#03Oct 29, 2026
cs.CV
MetaRefine: Score Refinement with Multi-Level Features for Image Assessment
Chuanzhi Xu, Chengkun Yue, Haolan Guo and 5 more
An image's original dimensions, aspect ratio, and composition provide important cues that can affect its technical and aesthetic quality. Image assessment methods use resizing, cropping, padding, or patch sampling to accommodate different input sizes. However, these operations can alter or obscure original geometric and compositional cues. Existing assessment models also encode rich multi-level visual evidence that can be further extracted and exploited to improve existing models. This motivates us to combine visual evidence with original-image geometry for score refinement without changing the original scoring pipelines. In this paper, we introduce MetaRefine, a metadata-aware score refinement architecture whose lightweight residual heads predict score corrections from geometry, multi-level visual features, and the frozen model's original score. Across 100 configurations on 21 datasets, MetaRefine improves PLCC in 88 configurations and SRCC in 85, with average relative gains of 7.55% and 7.10%, respectively. It reduces MAE in 90 configurations and RMSE in 89, with average relative reductions of 23.27% and 21.93%, respectively. The median parameter overhead is only 1.11%. MetaRefine can further improve state-of-the-art (SOTA) assessment models on multiple benchmarks.
#04Oct 29, 2026
cs.CV
PhysInsert: Physically Plausible Object Insertion with Geometric Priors and Bidirectional Object-Scene Interactions
Yue Gong, Le Zhang, Rui Chen and 5 more
We present PhysInsert, a framework for physically plausible reference-based object insertion that jointly adapts objects and their surrounding scenes. Existing methods often rely on masked inputs, generation-based pairs, or training pairs with limited viewpoint variation, leaving pose and illumination adaptation and bidirectional object-scene interactions insufficiently constrained. We construct the Insert World dataset with strictly aligned Blender-rendered counterfactual pairs and object references across viewpoints and lighting conditions. Building on these data, Geometry-Guided Adaptation couples a VGGT geometry stream with image and text streams under target-scene feature supervision to guide spatially consistent insertion. Complementary 2D Object-Scene Spatial Supervision jointly supervises object occupancy and environmental changes while grounding spatial instructions in object regions through image-text attention. We introduce PhysInsert-Bench with dedicated cross-environment and cross-view cases requiring illumination and pose adaptation beyond appearance copying. Experiments on PhysInsert-Bench and DreamBooth demonstrate improved image fidelity; a user study further shows more accurate placement and improved lighting integration, perspective, and pose plausibility.
#05Oct 29, 2026
cs.CV
Wizard: Manipulate Any World in Real Time via Agentic Control
Yuzhe Wu, Zijun Lin, Yeying Jin
Recent advances in video world models have enabled the generation of increasingly realistic and interactive virtual environments, opening new possibilities for player-customizable gameplay. Agentic frameworks further advance this direction by decoupling explicit game logic and controllable world representations from visual generation. However, existing approaches support only simple game settings and predefined motion patterns, generalize poorly to unseen environments and characters, and offer limited real-time interactivity. In this paper, we introduce Wizard, an agentic game world model that enables real-time, precise control over character motions while generalizing zero-shot across novel scenes, characters, and actions. To achieve this, we construct a diverse dataset spanning 750 scenes and 178 characters, incorporating skeleton and geometry information as structured representations. We leverage these representations as intermediate proxies to condition a video generation model, together with an adaptive masking mechanism that improves alignment between the conditioning signals and generated video rollouts. Furthermore, we introduce an agentic framework that explicitly maintains and updates game states, allowing players to freely configure their virtual worlds and exercise fine-grained control over character motions while preserving visual quality and gameplay consistency. By combining agentic control with structured proxy-based generation, our framework unlocks new possibilities for player-driven game creation with real-time, generalizable, and mechanically consistent world simulation.