# Viser: Imperative, Web-based 3D Visualization in Python

arXiv: https://arxiv.org/abs/2507.22885 · HTML: https://mlsanity.com/paper/2507.22885/

## Key facts

- Cited by 23 papers in the map (data through 14 Oct 2026).
- Builds on 48 of its 103 references that are in the map.
- First posted on arXiv 30 Jul 2025.

## Builds on (most cited first, 30 of 48)

- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Instant Neural Graphics Primitives with a Multiresolution Hash Encoding](https://mlsanity.com/paper/2201.05989/) (2022)
- [Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fields](https://mlsanity.com/paper/2111.12077/) (2021)
- [VGGT: Visual Geometry Grounded Transformer](https://mlsanity.com/paper/2503.11651/) (2025)
- [Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning](https://mlsanity.com/paper/2108.10470/) (2021)
- [Open3D: A Modern Library for 3D Data Processing](https://mlsanity.com/paper/1801.09847/) (2018)
- [Nerfstudio: A Modular Framework for Neural Radiance Field Development](https://mlsanity.com/paper/2302.04264/) (2023)
- [Continuous 3D Perception Model with Persistent State](https://mlsanity.com/paper/2501.12387/) (2025)
- [MonST3R: A Simple Approach for Estimating Geometry in the Presence of Motion](https://mlsanity.com/paper/2410.03825/) (2024)
- [Fast3R: Towards 3D Reconstruction of 1000+ Images in One Forward Pass](https://mlsanity.com/paper/2501.13928/) (2025)
- [Shape of Motion: 4D Reconstruction from a Single Video](https://mlsanity.com/paper/2407.13764/) (2024)
- [Deep Patch Visual Odometry](https://mlsanity.com/paper/2208.04726/) (2022)
- [Stable Virtual Camera: Generative View Synthesis with Diffusion Models](https://mlsanity.com/paper/2503.14489/) (2025)
- [Gradio: Hassle-Free Sharing and Testing of ML Models in the Wild](https://mlsanity.com/paper/1906.02569/) (2019)
- [GaussianEditor: Editing 3D Gaussians Delicately with Text Instructions](https://mlsanity.com/paper/2311.16037/) (2023)
- [AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System](https://mlsanity.com/paper/2307.04577/) (2023)
- [NeuRAD: Neural Rendering for Autonomous Driving](https://mlsanity.com/paper/2311.15260/) (2023)
- [VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifold](https://mlsanity.com/paper/2505.12549/) (2025)
- [GARField: Group Anything with Radiance Fields](https://mlsanity.com/paper/2401.09419/) (2024)
- [Cameras as Relative Positional Encoding](https://mlsanity.com/paper/2507.10496/) (2025)
- [Flow Matching Policy Gradients](https://mlsanity.com/paper/2507.21053/) (2025)
- [Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping](https://mlsanity.com/paper/2309.07970/) (2023)
- [MuJoCo Playground](https://mlsanity.com/paper/2502.08844/) (2025)
- [PromptHMR: Promptable Human Mesh Recovery](https://mlsanity.com/paper/2504.06397/) (2025)
- [NeRFiller: Completing Scenes via Generative 3D Inpainting](https://mlsanity.com/paper/2312.04560/) (2023)
- [Estimating Body and Hand Motion in an Ego-sensed World](https://mlsanity.com/paper/2410.03665/) (2024)
- [InfiniCube: Unbounded and Controllable Dynamic 3D Driving Scene Generation with World-Guided Video Models](https://mlsanity.com/paper/2412.03934/) (2024)
- [Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstruction](https://mlsanity.com/paper/2409.18121/) (2024)
- [D(R,O) Grasp: A Unified Representation of Robot and Object Interaction for Cross-Embodiment Dexterous Grasping](https://mlsanity.com/paper/2410.01702/) (2024)

## Built on by (most cited first, 23 of 23)

- [CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation](https://mlsanity.com/paper/2603.22435/) (2026)
- [Kimodo: Scaling Controllable Human Motion Generation](https://mlsanity.com/paper/2603.15546/) (2026)
- [BridgeV2W: Bridging Video Generation Models to Embodied World Models via Embodiment Masks](https://mlsanity.com/paper/2602.03793/) (2026)
- [Flow Policy Gradients for Robot Control](https://mlsanity.com/paper/2602.02481/) (2026)
- [SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation](https://mlsanity.com/paper/2602.16863/) (2026)
- [Dex4D: Task-Agnostic Point Track Policy for Zero-Shot Dexterous Manipulation](https://mlsanity.com/paper/2602.15828/) (2026)
- [Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations](https://mlsanity.com/paper/2602.06643/) (2026)
- [One4D: Unified 4D Generation and Reconstruction via Decoupled LoRA Control](https://mlsanity.com/paper/2511.18922/) (2025)
- [ARDY: Autoregressive Diffusion with Hybrid Representation for Interactive Human Motion Generation](https://mlsanity.com/paper/2607.08741/) (2026)
- [Human Universal Grasping](https://mlsanity.com/paper/2606.17054/) (2026)
- [Residual MPC: Blending Reinforcement Learning with GPU-Parallelized Model Predictive Control](https://mlsanity.com/paper/2510.12717/) (2025)
- [123D: Unifying Multi-Modal Autonomous Driving Data at Scale](https://mlsanity.com/paper/2605.08084/) (2026)
- [Direct 3D-Aware Object Insertion via Decomposed Visual Proxies](https://mlsanity.com/paper/2606.06601/) (2026)
- [RnG: A Unified Transformer for Complete 3D Modeling from Partial Observations](https://mlsanity.com/paper/2603.01194/) (2026)
- [LEGS: Fine-Tuning Teleop-Free VLAs for Humanoid Loco-manipulation in an Embodied Gaussian Splatting World](https://mlsanity.com/paper/2606.01458/) (2026)
- [WildLIFT: Lifting monocular drone video to 3D for species-agnostic wildlife monitoring](https://mlsanity.com/paper/2604.24718/) (2026)
- [SplatBus: A Gaussian Splatting Viewer Framework via GPU Interprocess Communication](https://mlsanity.com/paper/2601.15431/) (2026)
- [SceneTeract: Probing and Improving Agent-Aware Activity Reasoning in 3D Indoor Scenes](https://mlsanity.com/paper/2603.29798/) (2026)
- [SOMA: From Surface Observations to Muscle Anatomy](https://mlsanity.com/paper/2606.09246/) (2026)
- [SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models](https://mlsanity.com/paper/2608.06650/) (2026)
- [A Benchmark for Spatially Grounded Gesture Generation](https://mlsanity.com/paper/2610.03105/) (2026)
- [BiGym 2.0: Benchmarking Learned and Agent-Developed Policies for Humanoid Household Manipulation](https://mlsanity.com/paper/2610.07594/) (2026)
- [RoboSimStudio: An Interactive Toolkit for Human and Agent Rapid Real2Sim of Robot Manipulation Tasks](https://mlsanity.com/paper/2610.18835/) (2026)

## Abstract (arXiv)

We present Viser, a 3D visualization library for computer vision and robotics. Viser aims to bring easy and extensible 3D visualization to Python: we provide a comprehensive set of 3D scene and 2D GUI primitives, which can be used independently with minimal setup or composed to build specialized interfaces. This technical report describes Viser's features, interface, and implementation. Key design choices include an imperative-style API and a web-based viewer, which improve compatibility with modern programming patterns and workflows.