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Choreographing a World
of Dynamic Objects

arXiv 2026

Yanzhe Lyu1* Chen Geng1* Karthik Dharmarajan1
Yunzhi Zhang1 Hadi Alzayer1,3 Shangzhe Wu2 Jiajun Wu1


1. Stanford University 2. University of Cambridge 3. University of Maryland

Choreographing a World
of Dynamic Objects

arXiv 2026

Yanzhe Lyu1* Chen Geng1* Karthik Dharmarajan1
Yunzhi Zhang1 Hadi AlZayer1,3 Shangzhe Wu2 Jiajun Wu1

Given any collection of static 3D objects without any dynamic structural annotations, we present CHORD, a universal pipeline to generate dynamic motion of these 3D objects to form dynamic 4D scenes.


Gallery of Generated 4D Scenes

Our pipeline does not rely on any category-specific prior or dynamic structural annotations, and therefore can be applied to generate 4D scenes of a wide range of interactions of dynamic objects.

A child launches a brick with a seesaw

Captain America petting a dog

A cat jumps on a cusion.

Darth Vader pushes a desk lamp downwards.

Ezio is playing with his eagle.

More Generated 4D Scenes

Interactive Viewer

Text prompt: "A man closing the lid of a laptop."

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Interactive tips: Orbit — Left click & drag | Pan — Right click or Shift + drag | Zoom — Mouse wheel or pinch

Robot Manipulation

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Comparisons

Multi-object

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Single-object

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Bibtex

@misc{lyu2026chord,
          title={Choreographing a World of Dynamic Objects}, 
          author={Yanzhe Lyu and Chen Geng and Karthik Dharmarajan and Yunzhi Zhang and Hadi AlZayer and Shangzhe Wu and Jiajun Wu},
          year={2026},
          eprint={2601.04194},
          archivePrefix={arXiv},
          primaryClass={cs.CV},
          url={https://arxiv.org/abs/2601.04194}, 
    }