ICRA 2026poster0 citations

Efficient Trajectory-Conditioned Text-To-4D Gaussian Splatting

Lin Shao, Fan Lu, Haiyun Wei, Sanqing Qu, Alois Knoll, Guang Chen

Abstract

Recent text-to-4D generation methods have achieved remarkable progress thanks to advances in text-to-video models. Existing approaches typically reconstruct 4D scenes from generated videos or distill them from pre-trained text-to-video models. However, these methods often restrict the scene to a local region or lack spatial controllability. TC4D pioneered trajectory-controllable 4D asset generation by decomposing motion into global transformation and local deformation. While it achieves high visual quality, TC4D suffers from extremely low generation efficiency due to its NeRF-based framework. To overcome this limitation, we propose Efficient TC4DGS, which replaces NeRF with 4D Gaussian Splatting (4DGS) to significantly improve efficiency. Nevertheless, the discrete representation of 4DGS makes optimization challenging, leading to noticeable degradation in visual and motion quality. Thus, we propose a HexPlane-based 4D representation combined with a key-node control scheme. By computing the deformation only for the control nodes and getting overall deformation through interpolation, we greatly improve generation efficiency while maintaining quality. Compared with TC4D, the previous SOTA, we have improved the generation efficiency by 13times (reducing the generation time from 26 hours to 2 hours), while also achieving superior performance in terms of the dynamic quality of the generated objects.

Simulation and Animation
Efficient Trajectory-Conditioned Text-To-4D Gaussian Splatting · ICRA 2026