{"id":"https://openalex.org/W7160516646","doi":"https://doi.org/10.48550/arxiv.2605.04435","title":"Ground4D: Spatially-Grounded Feedforward 4D Reconstruction for Unstructured Off-Road Scenes","display_name":"Ground4D: Spatially-Grounded Feedforward 4D Reconstruction for Unstructured Off-Road Scenes","publication_year":2026,"publication_date":"2026-05-06","ids":{"openalex":"https://openalex.org/W7160516646","doi":"https://doi.org/10.48550/arxiv.2605.04435"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.04435","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.04435","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.04435","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5135565810","display_name":"Shuo Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Shuo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135587988","display_name":"Jilin Mei","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mei, Jilin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135622849","display_name":"Fuyang Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Fuyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102526350","display_name":"Wenfei Guan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guan, Wenfei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135611822","display_name":"Fanjie Kong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kong, Fanjie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123179417","display_name":"Zhihua Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Zhihua","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135602391","display_name":"Shuai Wang","orcid":"https://orcid.org/0000-0002-3609-2205"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Shuai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135593302","display_name":"Chen Min","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Min, Chen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135622429","display_name":"Yu Hu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Yu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.43630000948905945,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.43630000948905945,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.20489999651908875,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.12800000607967377,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/softmax-function","display_name":"Softmax function","score":0.6715999841690063},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.6712999939918518},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.6068000197410583},{"id":"https://openalex.org/keywords/normalization","display_name":"Normalization (sociology)","score":0.5753999948501587},{"id":"https://openalex.org/keywords/ellipse","display_name":"Ellipse","score":0.4156000018119812},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4041000008583069},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.39100000262260437}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7348999977111816},{"id":"https://openalex.org/C188441871","wikidata":"https://www.wikidata.org/wiki/Q7554146","display_name":"Softmax function","level":3,"score":0.6715999841690063},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.6712999939918518},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6506999731063843},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.6068000197410583},{"id":"https://openalex.org/C136886441","wikidata":"https://www.wikidata.org/wiki/Q926129","display_name":"Normalization (sociology)","level":2,"score":0.5753999948501587},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5547000169754028},{"id":"https://openalex.org/C74261601","wikidata":"https://www.wikidata.org/wiki/Q40112","display_name":"Ellipse","level":2,"score":0.4156000018119812},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4041000008583069},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.39100000262260437},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.38600000739097595},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.37599998712539673},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.3653999865055084},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3547999858856201},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.29679998755455017},{"id":"https://openalex.org/C68806387","wikidata":"https://www.wikidata.org/wiki/Q2724617","display_name":"Gaussian surface","level":3,"score":0.2856000065803528},{"id":"https://openalex.org/C2776449333","wikidata":"https://www.wikidata.org/wiki/Q7928781","display_name":"View synthesis","level":3,"score":0.2653999924659729},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.2597000002861023},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.2572000026702881}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.04435","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.04435","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.04435","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.04435","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7868910431861877}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Feedforward":[0],"Gaussian":[1,38,83,89,133],"Splatting":[2],"has":[3],"recently":[4],"emerged":[5],"as":[6,124],"an":[7],"efficient":[8],"paradigm":[9],"for":[10,62],"4D":[11,59],"reconstruction":[12,150],"in":[13,17,149],"autonomous":[14],"driving.":[15],"However,":[16],"unstructured":[18],"off-road":[19,64,157],"scenes,":[20],"its":[21],"performance":[22],"degrades":[23],"due":[24],"to":[25,43,70,128,155],"high-frequency":[26],"geometry,":[27],"ego-motion":[28],"jitter,":[29],"and":[30,94,109,139,152,161],"increased":[31],"non-rigid":[32],"dynamics.":[33],"These":[34],"factors":[35],"introduce":[36,80,120],"conflicting":[37],"observations":[39],"across":[40],"timestamps,":[41],"leading":[42],"either":[44],"over-smoothed":[45],"renderings":[46],"or":[47],"structural":[48],"artifacts.":[49],"To":[50],"address":[51],"this":[52],"issue,":[53],"we":[54,79],"propose":[55],"Ground4D,":[56],"a":[57],"spatially-grounded":[58],"feedforward":[60,147],"framework":[61],"pose-free":[63],"reconstruction.":[65],"The":[66],"key":[67],"idea":[68],"is":[69],"resolve":[71],"temporal":[72,82,97,107],"conflicts":[73],"through":[74],"spatially":[75],"localized":[76],"conditioning.":[77],"Specifically,":[78],"voxel-grounded":[81],"aggregation,":[84],"which":[85],"partitions":[86],"the":[87,130],"canonical":[88],"space":[90],"into":[91],"spatial":[92,110],"voxels":[93],"performs":[95],"query-conditioned":[96],"attention":[98],"within":[99],"each":[100],"voxel.":[101],"Intra-voxel":[102],"softmax":[103],"normalization":[104],"ensures":[105],"that":[106,142],"selectivity":[108],"occupancy":[111],"become":[112],"mutually":[113],"reinforcing":[114],"rather":[115],"than":[116],"conflicting.":[117],"We":[118],"furthermore":[119],"surface":[121],"normal":[122],"cues":[123],"auxiliary":[125],"geometric":[126],"guidance":[127],"regularize":[129],"geometry":[131],"of":[132],"primitives.":[134],"Extensive":[135],"experiments":[136],"on":[137],"ORAD-3D":[138],"RELLIS-3D":[140],"demonstrate":[141],"Ground4D":[143],"consistently":[144],"outperforms":[145],"existing":[146],"methods":[148],"quality":[151],"generalizes":[153],"zero-shot":[154],"unseen":[156],"domains.":[158],"Project":[159],"page":[160],"code:https://github.com/wsnbws/Ground4D.":[162]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-08T00:00:00"}