# FreeGaussian: Annotation-free Control of Articulated Objects via 3D Gaussian Splats with Flow Derivatives

arXiv: https://arxiv.org/abs/2410.22070 · HTML: https://mlsanity.com/paper/2410.22070/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 25 of its 40 references that are in the map.
- First posted on arXiv 29 Oct 2024.

## Builds on (most cited first, 25 of 25)

- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [D-NeRF: Neural Radiance Fields for Dynamic Scenes](https://mlsanity.com/paper/2011.13961/) (2020)
- [4D Gaussian Splatting for Real-Time Dynamic Scene Rendering](https://mlsanity.com/paper/2310.08528/) (2023)
- [DreamGaussian: Generative Gaussian Splatting for Efficient 3D Content Creation](https://mlsanity.com/paper/2309.16653/) (2023)
- [Deformable 3D Gaussians for High-Fidelity Monocular Dynamic Scene Reconstruction](https://mlsanity.com/paper/2309.13101/) (2023)
- [Neural Scene Flow Fields for Space-Time View Synthesis of Dynamic Scenes](https://mlsanity.com/paper/2011.13084/) (2020)
- [K-Planes: Explicit Radiance Fields in Space, Time, and Appearance](https://mlsanity.com/paper/2301.10241/) (2023)
- [Dynamic 3D Gaussians: Tracking by Persistent Dynamic View Synthesis](https://mlsanity.com/paper/2308.09713/) (2023)
- [HexPlane: A Fast Representation for Dynamic Scenes](https://mlsanity.com/paper/2301.09632/) (2023)
- [Real-time Photorealistic Dynamic Scene Representation and Rendering with 4D Gaussian Splatting](https://mlsanity.com/paper/2310.10642/) (2023)
- [Non-Rigid Neural Radiance Fields: Reconstruction and Novel View Synthesis of a Dynamic Scene From Monocular Video](https://mlsanity.com/paper/2012.12247/) (2020)
- [Dynamic View Synthesis from Dynamic Monocular Video](https://mlsanity.com/paper/2105.06468/) (2021)
- [Space-time Neural Irradiance Fields for Free-Viewpoint Video](https://mlsanity.com/paper/2011.12950/) (2020)
- [SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM](https://mlsanity.com/paper/2312.02126/) (2023)
- [Fast Dynamic Radiance Fields with Time-Aware Neural Voxels](https://mlsanity.com/paper/2205.15285/) (2022)
- [Neural Radiance Flow for 4D View Synthesis and Video Processing](https://mlsanity.com/paper/2012.09790/) (2020)
- [Tensor4D : Efficient Neural 4D Decomposition for High-fidelity Dynamic Reconstruction and Rendering](https://mlsanity.com/paper/2211.11610/) (2022)
- [Align Your Gaussians: Text-to-4D with Dynamic 3D Gaussians and Composed Diffusion Models](https://mlsanity.com/paper/2312.13763/) (2023)
- [Mixed Neural Voxels for Fast Multi-view Video Synthesis](https://mlsanity.com/paper/2212.00190/) (2022)
- [GaussianFlow: Splatting Gaussian Dynamics for 4D Content Creation](https://mlsanity.com/paper/2403.12365/) (2024)
- [HumanGaussian: Text-Driven 3D Human Generation with Gaussian Splatting](https://mlsanity.com/paper/2311.17061/) (2023)
- [STaR: Self-supervised Tracking and Reconstruction of Rigid Objects in Motion with Neural Rendering](https://mlsanity.com/paper/2101.01602/) (2020)
- [Advances in 3D Generation: A Survey](https://mlsanity.com/paper/2401.17807/) (2024)
- [Rig3DGS: Creating Controllable Portraits from Casual Monocular Videos](https://mlsanity.com/paper/2402.03723/) (2024)
- [LiveScene: Language Embedding Interactive Radiance Fields for Physical Scene Rendering and Control](https://mlsanity.com/paper/2406.16038/) (2024)

## Built on by (most cited first, 1 of 1)

- [Relaxed Rigidity with Ray-based Grouping for Dynamic Gaussian Splatting](https://mlsanity.com/paper/2603.24994/) (2026)

## Abstract (arXiv)

Reconstructing controllable Gaussian splats for articulated objects from monocular video is especially challenging due to its inherently insufficient constraints. Existing methods address this by relying on dense masks and manually defined control signals, limiting their real-world applications. In this paper, we propose an annotation-free method, FreeGaussian, which mathematically disentangles camera egomotion and articulated movements via flow derivatives. By establishing a connection between 2D flows and 3D Gaussian dynamic flow, our method enables optimization and continuity of dynamic Gaussian motions from flow priors without any control signals. Furthermore, we introduce a 3D spherical vector controlling scheme, which represents the state as a 3D Gaussian trajectory, thereby eliminating the need for complex 1D control signal calculations and simplifying controllable Gaussian modeling. Extensive experiments on articulated objects demonstrate the state-of-the-art visual performance and precise, part-aware controllability of our method. Code is available at: https://github.com/Tavish9/freegaussian.