# Occlusion-Robust Multi-Object Decoupling for Physics-Based Robotic Interaction

arXiv: https://arxiv.org/abs/2606.29303 · HTML: https://mlsanity.com/paper/2606.29303/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 28 of its 30 references that are in the map.
- First posted on arXiv 28 Jun 2026.

## Builds on (most cited first, 28 of 28)

- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [DreamFusion: Text-to-3D using 2D Diffusion](https://mlsanity.com/paper/2209.14988/) (2022)
- [Zero-1-to-3: Zero-shot One Image to 3D Object](https://mlsanity.com/paper/2303.11328/) (2023)
- [AnimateDiff: Animate Your Personalized Text-to-Image Diffusion Models without Specific Tuning](https://mlsanity.com/paper/2307.04725/) (2023)
- [Magic123: One Image to High-Quality 3D Object Generation Using Both 2D and 3D Diffusion Priors](https://mlsanity.com/paper/2306.17843/) (2023)
- [PhysGaussian: Physics-Integrated 3D Gaussians for Generative Dynamics](https://mlsanity.com/paper/2311.12198/) (2023)
- [PGSR: Planar-based Gaussian Splatting for Efficient and High-Fidelity Surface Reconstruction](https://mlsanity.com/paper/2406.06521/) (2024)
- [WonderWorld: Interactive 3D Scene Generation from a Single Image](https://mlsanity.com/paper/2406.09394/) (2024)
- [PhysDreamer: Physics-Based Interaction with 3D Objects via Video Generation](https://mlsanity.com/paper/2404.13026/) (2024)
- [VR-GS: A Physical Dynamics-Aware Interactive Gaussian Splatting System in Virtual Reality](https://mlsanity.com/paper/2401.16663/) (2024)
- [PhysGen: Rigid-Body Physics-Grounded Image-to-Video Generation](https://mlsanity.com/paper/2409.18964/) (2024)
- [ManiGaussian: Dynamic Gaussian Splatting for Multi-task Robotic Manipulation](https://mlsanity.com/paper/2403.08321/) (2024)
- [Physics3D: Learning Physical Properties of 3D Gaussians via Video Diffusion](https://mlsanity.com/paper/2406.04338/) (2024)
- [OmniPhysGS: 3D Constitutive Gaussians for General Physics-Based Dynamics Generation](https://mlsanity.com/paper/2501.18982/) (2025)
- [InFusion: Inpainting 3D Gaussians via Learning Depth Completion from Diffusion Prior](https://mlsanity.com/paper/2404.11613/) (2024)
- [Amodal3R: Amodal 3D Reconstruction from Occluded 2D Images](https://mlsanity.com/paper/2503.13439/) (2025)
- [GIC: Gaussian-Informed Continuum for Physical Property Identification and Simulation](https://mlsanity.com/paper/2406.14927/) (2024)
- [Robo-GS: A Physics Consistent Spatial-Temporal Model for Robotic Arm with Hybrid Representation](https://mlsanity.com/paper/2408.14873/) (2024)
- [Feature Splatting: Language-Driven Physics-Based Scene Synthesis and Editing](https://mlsanity.com/paper/2404.01223/) (2024)
- [DreamPhysics: Learning Physics-Based 3D Dynamics with Video Diffusion Priors](https://mlsanity.com/paper/2406.01476/) (2024)
- [PhysCtrl: Generative Physics for Controllable and Physics-Grounded Video Generation](https://mlsanity.com/paper/2509.20358/) (2025)
- [PhysFlow: Unleashing the Potential of Multi-modal Foundation Models and Video Diffusion for 4D Dynamic Physical Scene Simulation](https://mlsanity.com/paper/2411.14423/) (2024)
- [Efficient Physics Simulation for 3D Scenes via MLLM-Guided Gaussian Splatting](https://mlsanity.com/paper/2411.12789/) (2024)
- [DecoupledGaussian: Object-Scene Decoupling for Physics-Based Interaction](https://mlsanity.com/paper/2503.05484/) (2025)
- [IMFine: 3D Inpainting via Geometry-guided Multi-view Refinement](https://mlsanity.com/paper/2503.04501/) (2025)
- [O2-Recon: Completing 3D Reconstruction of Occluded Objects in the Scene with a Pre-trained 2D Diffusion Model](https://mlsanity.com/paper/2308.09591/) (2023)
- [Interactive Learning of Physical Object Properties Through Robot Manipulation and Database of Object Measurements](https://mlsanity.com/paper/2404.07344/) (2024)
- [CA-World: Multi-Object Counterfactual Alignment for Efficient Interactive-Ready Reconstruction](https://mlsanity.com/paper/2605.30239/) (2026)

## Abstract (arXiv)

We propose a mask-free method for lossless multi-object 3D reconstruction from sparse and occluded real-world views, enabling physically plausible robotic interaction via Material Point Method (MPM) simulation. Our key insight is that object coupling stems from occlusion and limited viewpoints, which we address by formulating multi-object decoupling as a sparse-view reconstruction problem. Using 3D Gaussian Splatting as base representation, we first obtain coarse instance partitions with a SAM2-trained segmentation field. Rather than relying on masks, we reconstruct fragmented geometries by leveraging a joint Score Distillation Sampling (SDS) process, which integrates reference-view supervision with novel-view synthesis guided by 2D and 3D diffusion priors to enforce both texture fidelity and 3D consistency. Furthermore, we incorporate geometry-aware priors such as intra-object and inter-object similarity to regularize geometric reasoning. Experimental results demonstrate that our method produces complete, simulation-ready 3D objects without requiring manual masks, enabling realistic dynamic interactions on both synthetic, robotic and real-world datasets.