Unified 3D Scene Understanding Through Physical World Modeling 文章

arXiv:2605.24321v1 Announce Type: new Abstract: Understanding 3D scenes requires flexible combinations of visual reasoning tasks, including depth estimation, novel view synthesis, and object manipulation, all of which are essential for perception and interaction. Existing approaches have typically addressed these tasks in isolation, preventing them from sharing a common representation or transferring knowledge across tasks. A conceptually simpler but practically non-trivial alternative is to unify these diverse tasks into a single model, reducing different tasks from separate training objectives to merely different prompts and allowing for joint training across all datasets. In this work, we present a physical world model for unified 3D understanding and interaction (3WM), formulated as a probabilistic graphical model in which nodes represent multimodal scene elements such as RGB, optical flow, and camera pose.