{"id":"https://openalex.org/W7162431741","doi":"https://doi.org/10.48550/arxiv.2605.25909","title":"R5DGS: Semantic-Aware 4D Gaussian Splatting with Rigid Body Constraints for Efficient Dynamic Scene Reconstruction","display_name":"R5DGS: Semantic-Aware 4D Gaussian Splatting with Rigid Body Constraints for Efficient Dynamic Scene Reconstruction","publication_year":2026,"publication_date":"2026-05-25","ids":{"openalex":"https://openalex.org/W7162431741","doi":"https://doi.org/10.48550/arxiv.2605.25909"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.25909","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.25909","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2605.25909","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5120190625","display_name":"Denis Gridusov","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gridusov, Denis","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137020736","display_name":"Maxim Popov","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Popov, Maxim","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5134925788","display_name":"Sergey Kolyubin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kolyubin, Sergey","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"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/T12290","display_name":"Human Motion and Animation","score":0.2280000001192093,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.2280000001192093,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10812","display_name":"Human Pose and Action Recognition","score":0.18359999358654022,"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/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.1477999985218048,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/extrapolation","display_name":"Extrapolation","score":0.5898000001907349},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5654000043869019},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5320000052452087},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.4982999861240387},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.46779999136924744},{"id":"https://openalex.org/keywords/timestamp","display_name":"Timestamp","score":0.45829999446868896},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.44769999384880066},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.43689998984336853},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.3993000090122223},{"id":"https://openalex.org/keywords/speedup","display_name":"Speedup","score":0.39559999108314514}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7847999930381775},{"id":"https://openalex.org/C132459708","wikidata":"https://www.wikidata.org/wiki/Q744069","display_name":"Extrapolation","level":2,"score":0.5898000001907349},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5654000043869019},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.541700005531311},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.534500002861023},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5320000052452087},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.4982999861240387},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.46779999136924744},{"id":"https://openalex.org/C113954288","wikidata":"https://www.wikidata.org/wiki/Q186885","display_name":"Timestamp","level":2,"score":0.45829999446868896},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.44769999384880066},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.43689998984336853},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3993000090122223},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.39559999108314514},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.3871999979019165},{"id":"https://openalex.org/C2778355321","wikidata":"https://www.wikidata.org/wiki/Q17079427","display_name":"Identity (music)","level":2,"score":0.3817000091075897},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3808000087738037},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.3723999857902527},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.3659000098705292},{"id":"https://openalex.org/C2777472644","wikidata":"https://www.wikidata.org/wiki/Q16968992","display_name":"Approximate inference","level":3,"score":0.3434000015258789},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.33399999141693115},{"id":"https://openalex.org/C2776674983","wikidata":"https://www.wikidata.org/wiki/Q545981","display_name":"Image editing","level":3,"score":0.33009999990463257},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.31529998779296875},{"id":"https://openalex.org/C134835016","wikidata":"https://www.wikidata.org/wiki/Q690265","display_name":"Lookup table","level":2,"score":0.31439998745918274},{"id":"https://openalex.org/C77660652","wikidata":"https://www.wikidata.org/wiki/Q150971","display_name":"Computer graphics","level":2,"score":0.30799999833106995},{"id":"https://openalex.org/C45235069","wikidata":"https://www.wikidata.org/wiki/Q278425","display_name":"Table (database)","level":2,"score":0.3077999949455261},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.2969000041484833},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.2921000123023987},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.2890999913215637},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.27079999446868896},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.25839999318122864},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.2524999976158142}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.25909","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.25909","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.25909","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.25909","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Reconstructing":[0],"and":[1,16,33,75,82,93],"predicting":[2],"dynamic":[3],"3D":[4],"scenes":[5],"from":[6,35],"multi-view":[7],"videos":[8],"is":[9],"a":[10,42,46,87,112],"foundational":[11],"task":[12],"for":[13,98],"robotics,":[14],"AR/VR,":[15],"digital":[17],"twins.":[18],"Recent":[19],"physics-informed":[20],"Gaussian":[21,49],"Splatting":[22],"methods":[23],"achieve":[24],"impressive":[25],"future":[26],"frame":[27],"extrapolation":[28,117],"but":[29],"lack":[30],"semantic":[31],"awareness":[32],"suffer":[34],"large":[36],"computational":[37],"overhead.":[38],"We":[39],"introduce":[40],"$\\textbf{R5DGS}$,":[41],"framework":[43],"that":[44,91],"augments":[45],"physics-driven":[47],"4D":[48],"representation":[50],"with":[51],"compact":[52],"Identity":[53],"Encoding":[54],"vectors,":[55],"enabling":[56],"precise":[57],"Gaussian-to-object":[58],"association.":[59],"By":[60],"constructing":[61],"an":[62],"offline":[63],"CLIP-based":[64],"object":[65,99],"lookup":[66],"table,":[67],"we":[68,85],"support":[69],"open-vocabulary":[70],"text":[71],"prompting":[72],"to":[73,103],"retrieve":[74],"render":[76],"object-specific":[77],"Gaussians":[78,105],"across":[79],"arbitrary":[80],"timestamps":[81],"viewpoints.":[83],"Furthermore,":[84],"propose":[86],"rigid-body":[88],"inference":[89],"constraint":[90],"predicts":[92],"integrates":[94],"physical":[95],"dynamics":[96],"exclusively":[97],"centroids,":[100],"propagating":[101],"motion":[102],"associated":[104],"via":[106],"relative":[107],"transformations.":[108],"This":[109],"optimization":[110],"yields":[111],"11":[113],"FPS":[114],"speedup":[115],"during":[116],"without":[118],"compromising":[119],"trajectories":[120],"plausibility.":[121]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-27T00:00:00"}
