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Viser: Imperative, Web-based 3D Visualization in Python
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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.
Forward citations
Cited by 10 Pith papers
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ARDY: Autoregressive Diffusion with Hybrid Representation for Interactive Human Motion Generation
An autoregressive diffusion model with a hybrid explicit-root/latent-body representation generates real-time, controllable 3D human motion from text and spatial constraints.
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Human Universal Grasping
HUG trains a flow-matching model on a new 1M-frame egocentric human grasp dataset to generate retargetable grasps from single RGB-D images, beating baselines by 23-34% on a new 90-object benchmark.
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FARM: Find Anything using Relational Spatial Memory
FARM creates an open-vocabulary relational spatial memory that improves object retrieval recall by 164-224% over prior methods on 44k language queries across 67 scenes while running at 5-10 Hz.
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TT4D: A Pipeline and Dataset for Table Tennis 4D Reconstruction From Monocular Videos
TT4D delivers a large-scale dataset of high-fidelity 3D table tennis gameplay reconstructed from monocular videos using a novel lift-first pipeline that infers ball trajectories and spin while handling occlusions.
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OmniRobotHome: A Multi-Camera Platform for Real-Time Multiadic Human-Robot Interaction
A 48-camera residential platform delivers real-time occlusion-robust 3D perception and coordinated actuation for multi-human multi-robot interaction in a shared home workspace.
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Learning Dynamic Rope Manipulation Using Task-Level Iterative Learning Control
Task-level ILC learns flying knot rope manipulation from one demo, achieving 100% success within 10 trials on 7 rope types with 2-5 trial transfers.
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SOMA: From Surface Observations to Muscle Anatomy
SOMA recovers spatio-temporal muscle behavior from multi-view RGB surface data and introduces the SKIM soft-tissue deformation dataset as the first such method from RGB observations.
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LEGS: Fine-Tuning Teleop-Free VLAs for Humanoid Loco-manipulation in an Embodied Gaussian Splatting World
LEGS shows synthetic data from a 3DGS-mesh hybrid simulator trains VLA policies for humanoid pick-and-place that match or exceed human teleoperation performance across multiple backbones and tasks while enabling low-c...
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cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots
cuRoboV2 unifies B-spline optimization, GPU-native dense signed distance fields, and scalable whole-body kinematics and dynamics to achieve 99.7% success on payloaded manipulators and 99.6% collision-free IK on 48-DoF...
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One Hand to Rule Them All: Canonical Representations for Unified Dexterous Manipulation
A unified parameter space and canonical URDF enable cross-embodiment dexterous grasping policies with 81.9% zero-shot success on unseen hands like the 3-finger LEAP Hand.
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