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Treating 3D Gaussian reconstruction as an active structural prior rather than a passive auxiliary target drives a 22% performance leap in category-level 6D pose estimation.
This work introduces a benchmark of 20 real scenes, from coherent streams to violent splashes, captured by seven synchronized, calibrated 4K cameras at 60 fps, with manually refined per-view liquid and container masks and fixed evaluation splits, and presents SplashSplat, built on a single principle: impose physical structure only where the observations can constrain it.
