Our method achieves advanced partialto-partial non-rigid point cloud registration results onthe4DMatch/4DLoMatch benchmark under both no-learned and supervised settings.

Non-rigid point cloud registration is a key component in many computer vision and computer graphics applications. The high complexity of the unknown non-rigid motion make this task a challenging problem. In this paper, we break down this problem via hierarchical motion decomposition. Our method called Neural Deformation Pyramid (NDP) represents non-rigid motion using a pyramid architecture. Each pyramid level, denoted by a Multi-Layer Perception (MLP), takes as input a sinusoidally encoded 3D point and outputs its motion increments from the previous level. The sinusoidal function starts with a low input frequency and gradually increases when the pyramid level goes down. This allows a multi-level rigid to nonrigid motion decomposition and also speeds up the solving by 50 times compared to the existing MLP-based approach. Our method achieves advanced partial-to-partial non-rigid point cloud registration results on the 4DMatch/4DLoMatchbenchmark under both no-learned and supervised settings.

Integrating visual-language instructions into visuomotor policies is gaining momentum in robot learning for enhancing open-world generalization. Despite promising advances, existing approaches face two challenges: limited language steerability when no generated reasoning is used as a condition, or significant inference latency when reasoning is incorporated. In this work, we introduce MoTVLA, a mixture-of-transformers (MoT)-based vision-language-action (VLA) model that integrates fast-slow unified reasoning with behavior policy learning. MoTVLA preserves the general intelligence of pre-trained VLMs (serving as the generalist) for tasks such as perception, scene understanding, and semantic planning, while incorporating a domain expert, a second transformer that shares knowledge with the pretrained VLM, to generate domain-specific fast reasoning (e.g., robot motion decomposition), thereby improving policy execution efficiency. By conditioning the action expert on decomposed motion instructions, MoTVLA can learn diverse behaviors and substantially improve language steerability. Extensive evaluations across natural language processing benchmarks, robotic simulation environments, and real-world experiments confirm the superiority of MoTVLA in both fast-slow reasoning and manipulation task performance.

The high complexity of the unknown non-rigid motion make this task a challenging problem.

Reconstructing intricate, ever-changing environments remains a central ambition in computer vision, yet existing solutions often crumble before the complexity of real-world dynamics. We present DynaSplat, an approach that extends Gaussian Splatting to dynamic scenes by integrating dynamic-static separation and hierarchical motion modeling. First, we classify scene elements as static or dynamic through a novel fusion of deformation offset statistics and 2D motion flow consistency, refining our spatial representation to focus precisely where motion matters. We then introduce a hierarchical motion modeling strategy that captures both coarse global transformations and fine-grained local movements, enabling accurate handling of intricate, non-rigid motions. Finally, we integrate physically-based opacity estimation to ensure visually coherent reconstructions, even under challenging occlusions and perspective shifts. Extensive experiments on challenging datasets reveal that DynaSplat not only surpasses state-of-the-art alternatives in accuracy and realism but also provides a more intuitive, compact, and efficient route to dynamic scene reconstruction.

Non-rigid point cloud registration is a key component in many computer vision and computer graphics applications. The high complexity of the unknown non-rigid motion make this task a challenging problem. In this paper, we break down this problem via hierarchical motion decomposition. Our method called Neural Deformation Pyramid (NDP) represents non-rigid motion using a pyramid architecture. Each pyramid level, denoted by a Multi-Layer Perception (MLP), takes as input a sinusoidally encoded 3D point and outputs its motion increments from the previous level.

Real-world objects perform complex motions that involve multiple independent motion components. For example, while talking, a person continuously changes their expressions, head, and body pose. In this work, we propose a novel method to decompose motion in videos by using a pretrained image GAN model. We discover disentangled motion subspaces in the latent space of widely used style-based GAN models that are semantically meaningful and control a single explainable motion component. The proposed method uses only a few $(\approx10)$ ground truth video sequences to obtain such subspaces. We extensively evaluate the disentanglement properties of motion subspaces on face and car datasets, quantitatively and qualitatively. Further, we present results for multiple downstream tasks such as motion editing, and selective motion transfer, e.g. transferring only facial expressions without training for it.