PD\(^{2}\)GS: Part-Level Decoupling and
Continuous Deformation of Articulated Objects
via Gaussian Splatting

Haowen Wang1, Xiaoping Yuan2, Zhao Jin3, Zhen Zhao3, Zhengping Che3,
Yousong Xue4, Jin Tian4, Yakun Huang2,*, Jian Tang3,*
1Anhui University    2Beijing University of Posts and Telecommunications
3Beijing Innovation Center of Humanoid Robotics    4Beijing Institute of Architectural Design

ICLR 2026

Paper arXiv Code (Coming Soon) Data (Coming Soon)
input_0.png
input_1.png
input_2.png
...
input_3.png

Real-World Data Collection

Unified Part-aware Gaussian Field
Unified Part-aware Gaussian Field

Unified Part-aware Gaussian Field

Real-World interactive Manipulation

Real-World interactive Manipulation

Part-Level Decoupling

Articulated Object Manipulation
for Reconstructed Assets

Photorealistic Continuous Rendering

Photorealistic Continuous Rendering
for Articulated Objects Manipulation



Part-Level Decoupling and Continuous Deformation

Part-Level Reconstruction

BibTeX

@inproceedings{wang2026pd2gs,
  title={PD$^2$GS: Part-Level Decoupling and Continuous Deformation of Articulated Objects via Gaussian Splatting},
  author={Wang, Haowen and Yuan, Xiaoping and Jin, Zhao and Zhao, Zhen and Che, Zhengping and Xue, Yousong and Tian, Jin and Huang, Yakun and Tang, Jian},
  booktitle={The Fourteenth International Conference on Learning Representations},
  year={2026},
}