diff --git a/.github/workflows/clean-gcloud-profiles.yml b/.github/workflows/clean-gcloud-profiles.yml
index 5b5398156fd..2521b1de160 100644
--- a/.github/workflows/clean-gcloud-profiles.yml
+++ b/.github/workflows/clean-gcloud-profiles.yml
@@ -16,14 +16,11 @@
 # happens, run this workflow manually to clean up the login profiles.
 
 name: Clean GCloud Profiles
+permissions:
+  contents: read
 
 on:
   workflow_dispatch:
-  # push:
-  #   branches:
-  #     - main
-  # pull_request:
-  #   types: [opened, reopened, synchronize]
 
 env:
   GCE_GPU_CI_SA: ${{ secrets.GCE_GPU_CI_SA }}
@@ -36,12 +33,12 @@ jobs:
       fail-fast: false
     steps:
       - name: GCloud CLI auth
-        uses: 'google-github-actions/auth@v1'
+        uses: 'google-github-actions/auth@v2'
         with:
           project_id: ${{ secrets.GCE_PROJECT }}
           credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
       - name: GCloud CLI setup
-        uses: google-github-actions/setup-gcloud@v1
+        uses: google-github-actions/setup-gcloud@v2
         with:
           version: ${{ env.GCE_CLI_GHA_VERSION }}
           project_id: ${{ secrets.GCE_PROJECT }}
diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml
index 85368dd8a45..83527c68b56 100644
--- a/.github/workflows/documentation.yml
+++ b/.github/workflows/documentation.yml
@@ -1,4 +1,7 @@
 name: Documentation
+permissions:
+  contents: write
+  actions: write
 
 on:
   workflow_dispatch:
@@ -17,9 +20,6 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
   cancel-in-progress: true
 
-env:
-  GCE_CLI_GHA_VERSION: '416.0.0'      # Fixed to avoid dependency on API changes
-
 jobs:
   headless-docs:
     # Build headless and docs
@@ -29,7 +29,7 @@ jobs:
       DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }}
     steps:
       - name: Checkout Open3D source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Maximize build space
         run: |
@@ -37,13 +37,13 @@ jobs:
           maximize_ubuntu_github_actions_build_space
 
       - name: Checkout Open3D-ML source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           repository: isl-org/Open3D-ML
           path: ${{ env.OPEN3D_ML_ROOT }}
 
       - name: Setup cache
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           # Ref: https://github.com/apache/incubator-mxnet/pull/18459/files
           path: ~/.ccache
@@ -56,9 +56,9 @@ jobs:
           restore-keys: |
             ${{ runner.os }}-ccache
       - name: Set up Python version
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
-          python-version: '3.8'
+          python-version: '3.11'
 
       - name: Install dependencies
         env:
@@ -81,52 +81,49 @@ jobs:
           ccache -s
 
       - name: Upload docs
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: open3d_docs
           path: docs/_out/html
           if-no-files-found: error
 
-      - name: GCloud CLI auth
-        if: ${{ github.ref == 'refs/heads/main' }}
-        uses: 'google-github-actions/auth@v1'
-        with:
-          project_id: ${{ secrets.GCE_PROJECT }}
-          credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
-      - name: GCloud CLI setup
-        if: ${{ github.ref == 'refs/heads/main' }}
-        uses: google-github-actions/setup-gcloud@v1
-        with:
-          version: ${{ env.GCE_CLI_GHA_VERSION }}
-          project_id: ${{ secrets.GCE_PROJECT }}
-
-      - name: Deploy docs
+      - name: Deploy docs if all artifacts available
         if: ${{ github.ref == 'refs/heads/main' }}
+        env:
+          GH_TOKEN: ${{ github.token }}
         run: |
-          # Compress and upload the docs, only for main branch
-          docs_out_dir="docs/_out" # Docs in ${docs_out_dir}/html
-          tar_file="${{ github.sha }}_ready.tar.gz"
+          tar_file="open3d-${GITHUB_SHA}-docs.tar.gz"
           rm -rf ${tar_file}
-          tar -C ${docs_out_dir} -czvf ${tar_file} html
-          gsutil cp ${tar_file} gs://open3d-docs/${tar_file}
-          echo "Docs archive uploaded to:"
-          echo "https://storage.googleapis.com/open3d-docs/${tar_file}"
+          # Docs in docs/_out/html
+          tar -C docs/_out -cvzf ${tar_file} html
 
-      - name: Check wheels and ready documentation archive
-        if: ${{ github.ref == 'refs/heads/main' }}
-        run: |
-            if [ $(gsutil ls gs://open3d-docs/${{ github.sha }}_ready* | wc -l)\
-                -eq 4 ]; then
-                echo "All wheels and docs available. Making docs ready."
-                # Remove all marker files: Note _ at end of pattern.
-                gsutil rm gs://open3d-docs/${{ github.sha }}_ready_*
-                # Rename docs archive:
-                gsutil mv gs://open3d-docs/${{ github.sha }}_ready.tar.gz \
-                    gs://open3d-docs/${{ github.sha }}.tar.gz
-                # Set holds on new artifacts, release on old
-                gsutil retention temp release gs://open3d-releases/*
-                gsutil retention temp set gs://open3d-releases/python-wheels/*${GITHUB_SHA:0:7}*.whl
-                gsutil retention temp set gs://open3d-releases/devel/*${GITHUB_SHA:0:7}*
-            else
-                echo "All wheels / docs not available yet."
-            fi
+          echo "Waiting for other release assets..."
+          this_sha=$(echo ${GITHUB_SHA} | cut -c 1-6)
+          n_this_sha_assets=$(gh release view main-devel --json assets --jq ".assets | map(select(.name | contains(\"${this_sha}\"))) | length")
+          # Total assets from each main branch commmit:
+          # Python wheels (4x4) + Viewer (3) + C++ libs (4+2+2) = 27,
+          while ((n_this_sha_assets < 27)); do
+              sleep 60
+              echo -n "."
+              n_this_sha_assets=$(gh release view main-devel --json assets --jq ".assets | map(select(.name | contains(\"${this_sha}\"))) | length")
+          done
+          gh release upload main-devel ${tar_file} --clobber
+          gh release view main-devel
+
+          echo "\nAll assets ready. Removing release assets except from last 3 commits: ${last_shas[@]}"
+          release_assets=($(gh release view main-devel --json assets --jq '.assets[] | .name'))
+          last_shas=($(git log --pretty=format:%h --abbrev-commit -n 3))
+          for relass in "${release_assets[@]}"; do
+              found=false
+              for last_sha in "${last_shas[@]}"; do
+                  if [[ $relass == *${last_sha}* ]]; then
+                      found=true
+                  fi
+              done
+              if [ $found == false ]; then
+                  set -x
+                  gh release delete-asset main-devel $relass
+                  set +x
+              fi
+          done
+          gh release view main-devel
diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
index 00bd9636130..362cc2327f0 100644
--- a/.github/workflows/macos.yml
+++ b/.github/workflows/macos.yml
@@ -1,4 +1,7 @@
 name: MacOS
+permissions:
+  contents: write
+  actions: write
 
 on:
   workflow_dispatch:
@@ -22,14 +25,16 @@ env:
   # https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners#supported-runners-and-hardware-resources
   NPROC: 4
   DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }}
-  GCE_CLI_GHA_VERSION: '416.0.0'      # Fixed to avoid dependency on API changes
 
 jobs:
   MacOS:
-    runs-on: macos-12
+    runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
       matrix:
+        # macos-12 is Intel runner, macos-14 is Apple Silicon
+        # https://github.com/actions/runner-images
+        os: [macos-12, macos-14]
         CONFIG: [ON, OFF]
     env:
       BUILD_SHARED_LIBS: ${{ matrix.CONFIG }}
@@ -39,98 +44,161 @@ jobs:
       LOW_MEM_USAGE: ON
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Setup cache
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           # Ref: https://github.com/apache/incubator-mxnet/pull/18459/files
           path: ~/.ccache
           # We include the commit sha in the cache key, as new cache entries are
           # only created if there is no existing entry for the key yet.
-          key: ${{ runner.os }}-ccache-${{ github.sha }}
+          key: ${{ runner.os }}-${{ runner.arch }}-ccache-${{ github.sha }}
           # Restore any ccache cache entry, if none for
-          # ${{ runner.os }}-ccache-${{ github.sha }} exists.
+          # ${{ runner.os }}-${{ runner.arch }}-ccache-${{ github.sha }} exists.
           # Common prefix will be used so that ccache can be used across commits.
           restore-keys: |
-            ${{ runner.os }}-ccache
+            ${{ runner.os }}-${{ runner.arch }}-ccache
+
       - name: Set up Python version
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
-          python-version: 3.8
+          python-version: '3.11'
+
       - name: Install dependencies
         run: |
           brew install ccache pkg-config
-          # Install libomp 11.1.0 from old brew bottle for catalina (10.15).
-          # Directly installing the Ruby formula will install for the current OS
+
+          if [[ ${{ runner.arch}} == "ARM64"  ]]; then
+            # Fix gfortran not found issue
+            ln -s $(which gfortran-13) /usr/local/bin/gfortran
+
+            # Default macos-14 image Xcode (version 15.0.1) linker causes build issues.
+            # Newer Xcode versions work, but embree recommends Apple clang <= 14 on
+            # arm64 to avoid possible "EXEC_BAD_INSTRUCTION" runtime exceptions:
+            # https://github.com/embree/embree/releases/tag/v4.3.1
+            sudo xcode-select -switch /Applications/Xcode_14.3.1.app
+          fi
+
+          # Install libomp 11.1.0 from old brew bottle for x64 catalina (10.15)
+          # / arm64 big sur (11.0). Directly installing the Ruby formula will
+          # install for the current OS.
           # https://github.com/microsoft/LightGBM/issues/4229
-          brew unlink libomp
-          curl -L -H "Authorization: Bearer QQ==" -o libomp-11.1.0.catalina.bottle.tar.gz \
-          https://ghcr.io/v2/homebrew/core/libomp/blobs/sha256:45a5aa653bd45bd5ff5858580b1a4670c4b5a51ea29d68d45a53f72f56010e05
-          brew install -f libomp-11.1.0.catalina.bottle.tar.gz
+          if [[ ${{ runner.arch}} == "X64"  ]]; then
+            brew unlink libomp
+            # x64 catalina (10.15) bottle
+            export LIBOMP_BOTTLE_HASH=45a5aa653bd45bd5ff5858580b1a4670c4b5a51ea29d68d45a53f72f56010e05
+          else # ARM64
+            # arm64 big_sur (11.0) bottle
+            export LIBOMP_BOTTLE_HASH=f87f7841eb8b72650fa771af39642361aec371ea1a1f94f081ecc0e8168a0e75
+          fi
+          curl -L -H "Authorization: Bearer QQ==" -o libomp-11.1.0.bottle.tar.gz \
+          https://ghcr.io/v2/homebrew/core/libomp/blobs/sha256:$LIBOMP_BOTTLE_HASH
+          brew install -f libomp-11.1.0.bottle.tar.gz
+
           ccache -M 2G  # See .github/workflows/readme.md for ccache strategy.
       - name: Config and build
         run: |
           PATH=/usr/local/var/homebrew/linked/ccache/libexec:$PATH
           ccache -s
           ./util/run_ci.sh
-          DEVEL_PKG_NAME="$(basename package/open3d-devel-*.tar.xz)"
+          DEVEL_PKG_NAME="$(basename build/package/open3d-devel-*.tar.xz)"
           echo "DEVEL_PKG_NAME=$DEVEL_PKG_NAME" >> $GITHUB_ENV
       - name: Build Open3D viewer app
         if: ${{ env.BUILD_SHARED_LIBS == 'OFF' }}
         run: |
+          OPEN3D_VERSION_FULL="$(grep -F OPEN3D_VERSION_FULL build/CMakeCache.txt | cut -f2 -d'=')"
           PATH=/usr/local/var/homebrew/linked/ccache/libexec:$PATH
           pushd build
           make -j${NPROC} Open3DViewer
           pushd bin
-          zip -rv open3d-app-macosx-10_15.zip Open3D.app
+          zip -rv "open3d-${OPEN3D_VERSION_FULL}-app-macosx-10_15-${{ runner.arch }}.zip" Open3D.app
           ccache -s
 
       - name: Upload package
         if: ${{ env.BUILD_SHARED_LIBS == 'ON' }}
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: open3d-devel-macosx
+          name: ${{ env.DEVEL_PKG_NAME }}
           path: build/package/${{ env.DEVEL_PKG_NAME }}
           if-no-files-found: error
 
-      - name: GCloud CLI auth
+      - name: Update package devel release
         if: ${{ github.ref == 'refs/heads/main' && env.BUILD_SHARED_LIBS == 'ON' }}
-        uses: 'google-github-actions/auth@v1'
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          gh release upload main-devel build/package/${{ env.DEVEL_PKG_NAME }} --clobber
+          gh release view main-devel
+
+      - name: Upload Open3D viewer app
+        uses: actions/upload-artifact@v4
+        if: ${{ env.BUILD_SHARED_LIBS == 'OFF' }}
         with:
-          project_id: ${{ secrets.GCE_PROJECT }}
-          credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
-      - name: GCloud CLI setup
-        if: ${{ github.ref == 'refs/heads/main' && env.BUILD_SHARED_LIBS == 'ON' }}
-        uses: google-github-actions/setup-gcloud@v1
+          name: open3d-app-macosx-10_15-${{ runner.arch}}
+          path: build/bin/open3d-*-app-macosx-10_15-${{ runner.arch }}.zip
+          if-no-files-found: error
+
+  fuse-viewer:
+    name: Fuse x64 and ARM64 viewer app
+    runs-on: [macos-12]
+    needs: [MacOS]
+    steps:
+      - name: Checkout source code  # for gh release upload
+        uses: actions/checkout@v4
+      - name: Download viewer apps
+        uses: actions/download-artifact@v4
         with:
-          version: ${{ env.GCE_CLI_GHA_VERSION }}
-          project_id: ${{ secrets.GCE_PROJECT }}
+          pattern: open3d-app-macosx-10_15-*
+          merge-multiple: true
 
-      - name: Upload package to GCS bucket
-        if: ${{ github.ref == 'refs/heads/main' && env.BUILD_SHARED_LIBS == 'ON' }}
+      - name: Fuse x64 and arm64 viewer apps
         run: |
-          gsutil cp build/package/${{ env.DEVEL_PKG_NAME }} gs://open3d-releases/devel/
-          echo "Download devel package at: https://storage.googleapis.com/open3d-releases/devel/${{ env.DEVEL_PKG_NAME }}"
+          unzip open3d-*-app-macosx-10_15-X64.zip -d x64
+          unzip open3d-*-app-macosx-10_15-ARM64.zip -d arm64
+          APP_NAME=$(ls open3d-*-app-macosx-10_15-X64.zip)
+          APP_NAME=${APP_NAME/-X64/-universal2}  # includes version
+          for i in arm64/Open3D.app/Contents/MacOS/*; do
+            filepath=Open3D.app/Contents/MacOS/$(basename $i)
+            lipo -create arm64/${filepath} x64/${filepath} -output arm64/${filepath}
+          done
+          mv arm64/Open3D.app Open3D.app
+          zip -rv "${APP_NAME}" Open3D.app
 
       - name: Upload Open3D viewer app
-        uses: actions/upload-artifact@v3
-        if: ${{ env.BUILD_SHARED_LIBS == 'OFF' }}
+        uses: actions/upload-artifact@v4
         with:
-          name: open3d-app-macosx-10_15
-          path: build/bin/open3d-app-macosx-10_15.zip
+          name: open3d-app-macosx-10_15-universal2
+          path: open3d-*-app-macosx-10_15-universal2.zip
           if-no-files-found: error
 
+      - name: Update viewer devel release
+        if: ${{ github.ref == 'refs/heads/main' }}
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          gh release upload main-devel open3d-*-app-macosx-10_15-universal2.zip --clobber
+          gh release view main-devel
+
+
   build-wheel:
     name: Build wheel
-    runs-on: macos-12
+    runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
       # https://github.community/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6
       matrix:
+        # macos-12 is Intel runner, macos-14 is Apple Silicon
+        # https://github.com/actions/runner-images
+        os: [macos-12, macos-14]
         python_version: ['3.8', '3.9', '3.10', '3.11']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
+          # TODO: remove macos-14 excludes when https://github.com/actions/setup-python/issues/808 is fixed
+          - os: macos-14
+            python_version: '3.8'
+          - os: macos-14
+            python_version: '3.9'
           - is_main: false
             python_version: '3.8'
           - is_main: false
@@ -143,30 +211,30 @@ jobs:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Checkout Open3D-ML source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           repository: isl-org/Open3D-ML
           path: ${{ env.OPEN3D_ML_ROOT }}
 
       - name: Setup cache
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           # Ref: https://github.com/apache/incubator-mxnet/pull/18459/files
           path: ~/.ccache
           # We include the commit sha in the cache key, as new cache entries are
           # only created if there is no existing entry for the key yet.
-          key: ${{ runner.os }}-ccache-${{ github.sha }}
+          key: ${{ runner.os }}-${{ runner.arch }}-ccache-${{ github.sha }}
           # Restore any ccache cache entry, if none for
-          # ${{ runner.os }}-ccache-${{ github.sha }} exists.
+          # ${{ runner.os }}-${{ runner.arch }}-ccache-${{ github.sha }} exists.
           # Common prefix will be used so that ccache can be used across commits.
           restore-keys: |
-            ${{ runner.os }}-ccache
+            ${{ runner.os }}-${{ runner.arch }}-ccache
 
       - name: Set up Python
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: ${{ matrix.python_version }}
 
@@ -180,12 +248,26 @@ jobs:
           cmake --version
           source util/ci_utils.sh
           install_python_dependencies
+
+          # Fix macos-14 arm64 runner image issues, see comments in MacOS job.
+          if [[ ${{ runner.arch}} == "ARM64"  ]]; then
+            ln -s $(which gfortran-13) /usr/local/bin/gfortran
+            sudo xcode-select -switch /Applications/Xcode_14.3.1.app
+          fi
+
           # Install libomp 11.1.0. See comment above.
+          if [[ ${{ runner.arch}} == "X64"  ]]; then
+            brew unlink libomp
+            # x64 catalina (10.15) bottle
+            export LIBOMP_BOTTLE_HASH=45a5aa653bd45bd5ff5858580b1a4670c4b5a51ea29d68d45a53f72f56010e05
+          else # ARM64
+            # arm64 big_sur (11.0) bottle
+            export LIBOMP_BOTTLE_HASH=f87f7841eb8b72650fa771af39642361aec371ea1a1f94f081ecc0e8168a0e75
+          fi
+          curl -L -H "Authorization: Bearer QQ==" -o libomp-11.1.0.bottle.tar.gz \
+          https://ghcr.io/v2/homebrew/core/libomp/blobs/sha256:$LIBOMP_BOTTLE_HASH
+          brew install -f libomp-11.1.0.bottle.tar.gz
           brew install ccache
-          brew unlink libomp
-          curl -L -H "Authorization: Bearer QQ==" -o libomp-11.1.0.catalina.bottle.tar.gz \
-          https://ghcr.io/v2/homebrew/core/libomp/blobs/sha256:45a5aa653bd45bd5ff5858580b1a4670c4b5a51ea29d68d45a53f72f56010e05
-          brew install -f libomp-11.1.0.catalina.bottle.tar.gz
           ccache -M 2G  # See .github/workflows/readme.md for ccache strategy.
 
       - name: Config and build wheel
@@ -199,45 +281,93 @@ jobs:
           echo "PIP_PKG_NAME=$PIP_PKG_NAME" >> $GITHUB_ENV
 
       - name: Upload wheel
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: open3d_macosx_x86_64_wheels
+          name: ${{ env.PIP_PKG_NAME }}
           path: build/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }}
           if-no-files-found: error
 
-      - name: GCloud CLI auth
-        if: ${{ github.ref == 'refs/heads/main' }}
-        uses: 'google-github-actions/auth@v1'
+  fuse-wheel:
+    name: Fuse universal2 wheel
+    runs-on: [macos-12]
+    needs: [build-wheel]
+    strategy:
+      fail-fast: false
+      # https://github.community/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6
+      matrix:
+        python_version: ['3.10', '3.11']
+        is_main:
+          - ${{ github.ref == 'refs/heads/main' }}
+        exclude:
+          - is_main: false
+            python_version: '3.10'
+    steps:
+      - name: Checkout source code  # for gh release upload
+        uses: actions/checkout@v4
+      - name: Set up Python
+        uses: actions/setup-python@v5
         with:
-          project_id: ${{ secrets.GCE_PROJECT }}
-          credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
-      - name: GCloud CLI setup
-        if: ${{ github.ref == 'refs/heads/main' }}
-        uses: google-github-actions/setup-gcloud@v1
+          python-version: ${{ matrix.python_version }}
+
+      - name: Download X64 wheels
+        uses: actions/download-artifact@v4
         with:
-          version: ${{ env.GCE_CLI_GHA_VERSION }}
-          project_id: ${{ secrets.GCE_PROJECT }}
+          pattern: open3d-*macosx*_x86_64.whl
+          path: x64_wheels
+          merge-multiple: true
 
-      - name: Upload wheel to GCS bucket
-        if: ${{ github.ref == 'refs/heads/main' }}
+      - name: Download ARM64 wheels
+        uses: actions/download-artifact@v4
+        with:
+          pattern: open3d-*macosx*_arm64.whl
+          path: arm64_wheels
+          merge-multiple: true
+
+      - name: Fuse x64 and ARM64 wheels
         env:
           python_version: ${{ matrix.python_version }}
         run: |
           PYTAG="-cp$(echo ${{ env.python_version }} | tr -d '.')"
-          gsutil cp build/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }} gs://open3d-releases/python-wheels/
-          echo "Download pip package at: https://storage.googleapis.com/open3d-releases/python-wheels/${{ env.PIP_PKG_NAME }}"
+          mkdir universal_wheels
+          pip install delocate
+          delocate-fuse -v x64_wheels/open3d-*${PYTAG}*.whl arm64_wheels/open3d-*${PYTAG}*.whl
+          # Normalize file name as delocate-fuse doesn't update it
+          OLD_WHL_NAME=$(basename x64_wheels/open3d-*${PYTAG}*.whl)
+          NEW_WHL_NAME=${OLD_WHL_NAME/x86_64/universal2}
+          mv x64_wheels/${OLD_WHL_NAME} universal_wheels/${NEW_WHL_NAME}
+          echo "PIP_PKG_NAME=$NEW_WHL_NAME" >> $GITHUB_ENV
+
+      - name: Upload merged wheels
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ env.PIP_PKG_NAME }}
+          path: universal_wheels/${{ env.PIP_PKG_NAME }}
+          if-no-files-found: error
+
+      - name: Update devel release
+        if: ${{ github.ref == 'refs/heads/main' }}
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          gh release upload main-devel universal_wheels/${{ env.PIP_PKG_NAME }} --clobber
+          gh release view main-devel
 
   test-wheel:
     name: Test wheel
-    runs-on: macos-12
+    runs-on: ${{ matrix.os }}
     needs: [build-wheel]
     strategy:
       fail-fast: false
       matrix:
+        os: [macos-12, macos-14]
         python_version: ['3.8', '3.9', '3.10', '3.11']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
+          - os: macos-14
+            python_version: '3.8'
+          - os: macos-14
+            python_version: '3.9'
           - is_main: false
             python_version: '3.8'
           - is_main: false
@@ -249,23 +379,22 @@ jobs:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Checkout Open3D-ML source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           repository: isl-org/Open3D-ML
           path: ${{ env.OPEN3D_ML_ROOT }}
 
       - name: Download wheels
-        uses: actions/download-artifact@v3
-        # See https://github.com/dawidd6/action-download-artifact for more
-        # flexible artifact download options
+        uses: actions/download-artifact@v4
         with:
-          name: open3d_macosx_x86_64_wheels
+          pattern: open3d-*macosx*.whl
+          merge-multiple: true
 
       - name: Set up Python
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: ${{ matrix.python_version }}
 
@@ -274,47 +403,10 @@ jobs:
           python -V
           source util/ci_utils.sh
           pi_tag=$(python -c "import sys; print(f'cp{sys.version_info.major}{sys.version_info.minor}')")
-          test_wheel open3d*-"$pi_tag"-*.whl
+          test_wheel open3d*-"$pi_tag"-*_$(uname -m).whl
 
-      - name: Run Python unit tests (benchmarks)
+      - name: Run Python unit tests
         run: |
           source util/ci_utils.sh
           echo "Running Open3D python tests..."
           run_python_tests
-
-  ready-docs:
-    name: Ready docs archive
-    # no need to run on macOS
-    runs-on: ubuntu-latest
-    if: ${{ github.ref == 'refs/heads/main' }}
-    needs: [build-wheel, MacOS]
-    steps:
-      - name: GCloud CLI auth
-        uses: 'google-github-actions/auth@v1'
-        with:
-          project_id: ${{ secrets.GCE_PROJECT }}
-          credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
-      - name: GCloud CLI setup
-        uses: google-github-actions/setup-gcloud@v1
-        with:
-          version: ${{ env.GCE_CLI_GHA_VERSION }}
-          project_id: ${{ secrets.GCE_PROJECT }}
-      - name: Check wheels and ready documentation archive
-        run: |
-            touch marker_file
-            gsutil cp marker_file gs://open3d-docs/${{ github.sha }}_ready_macos
-            if [ $(gsutil ls gs://open3d-docs/${{ github.sha }}_ready* | wc -l)\
-                -eq 4 ]; then
-                echo "All wheels and docs available. Making docs ready."
-                # Remove all marker files: Note _ at end of pattern.
-                gsutil rm gs://open3d-docs/${{ github.sha }}_ready_*
-                # Rename docs archive:
-                gsutil mv gs://open3d-docs/${{ github.sha }}_ready.tar.gz \
-                    gs://open3d-docs/${{ github.sha }}.tar.gz
-                # Set holds on new artifacts, release on old
-                gsutil retention temp release gs://open3d-releases/*
-                gsutil retention temp set gs://open3d-releases/python-wheels/*${GITHUB_SHA:0:7}*.whl
-                gsutil retention temp set gs://open3d-releases/devel/*${GITHUB_SHA:0:7}*
-            else
-                echo "All wheels / docs not available yet. Docs not ready."
-            fi
diff --git a/.github/workflows/style.yml b/.github/workflows/style.yml
index 744b997e2e7..3c27504fdd9 100644
--- a/.github/workflows/style.yml
+++ b/.github/workflows/style.yml
@@ -1,4 +1,7 @@
 name: Style Check
+permissions:
+  contents: read
+  actions: write
 
 on:
   workflow_dispatch:
@@ -17,9 +20,9 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Set up Python version
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: '3.8'
       - name: Install dependencies
diff --git a/.github/workflows/ubuntu-cuda.yml b/.github/workflows/ubuntu-cuda.yml
index ce4528a83ca..9cf3cd3e749 100644
--- a/.github/workflows/ubuntu-cuda.yml
+++ b/.github/workflows/ubuntu-cuda.yml
@@ -1,4 +1,7 @@
 name: Ubuntu CUDA
+permissions:
+  contents: write
+  actions: write
 
 on:
   workflow_dispatch:
@@ -64,7 +67,7 @@ jobs:
       CCACHE_TAR_NAME    : open3d-ci-${{ matrix.CI_CONFIG }}
     steps:
       - name: Checkout code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           submodules: 'false'
       - name: Package code
@@ -74,12 +77,12 @@ jobs:
           tar -czvf Open3D.tar.gz Open3D
           ls -alh
       - name: GCloud CLI auth
-        uses: 'google-github-actions/auth@v1'
+        uses: 'google-github-actions/auth@v2'
         with:
           project_id: ${{ secrets.GCE_PROJECT }}
           credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
       - name: GCloud CLI setup
-        uses: google-github-actions/setup-gcloud@v1
+        uses: google-github-actions/setup-gcloud@v2
         with:
           version: ${{ env.GCE_CLI_GHA_VERSION }}
           project_id: ${{ secrets.GCE_PROJECT }}
@@ -150,20 +153,19 @@ jobs:
 
       - name: Upload package
         if: ${{ env.BUILD_PACKAGE == 'true' }}
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: open3d-devel-linux-x86_64-cuda
+          name: open3d-devel-linux-x86_64-cuda-${{ matrix.CI_CONFIG }}
           path: open3d-devel-linux*.tar.xz
           if-no-files-found: error
 
-      - name: Upload package to GCS bucket
+      - name: Update devel release
         if: ${{ github.ref == 'refs/heads/main' && env.BUILD_PACKAGE == 'true' }}
+        env:
+          GH_TOKEN: ${{ github.token }}
         run: |
-          gcloud compute ssh "${INSTANCE_NAME}" \
-            --zone="${GCE_ZONE}" \
-            --command="ls -alh \
-                       && gsutil cp open3d-devel-linux-*.tar.xz \
-                       gs://open3d-releases/devel/"
+          gh release upload main-devel open3d-devel-linux-*.tar.xz --clobber
+          gh release view main-devel
 
       - name: VM run docker
         run: |
diff --git a/.github/workflows/ubuntu-openblas.yml b/.github/workflows/ubuntu-openblas.yml
index 233c32bd96f..acfe20e4ddf 100644
--- a/.github/workflows/ubuntu-openblas.yml
+++ b/.github/workflows/ubuntu-openblas.yml
@@ -1,4 +1,7 @@
 name: Ubuntu OpenBLAS
+permissions:
+  contents: read
+  actions: write
 
 on:
   workflow_dispatch:
@@ -24,7 +27,7 @@ jobs:
       fail-fast: false
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Maximize build space
         run: |
           source util/ci_utils.sh
@@ -66,7 +69,7 @@ jobs:
       GCE_INSTANCE_PREFIX: open3d-ci-openblas-arm64-py310-dev
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Package code
         run: |
           # GITHUB_WORKSPACE: /home/runner/work/Open3D/Open3D
@@ -74,12 +77,12 @@ jobs:
           tar -czvf Open3D.tar.gz Open3D
           ls -alh
       - name: GCloud CLI auth
-        uses: 'google-github-actions/auth@v1'
+        uses: 'google-github-actions/auth@v2'
         with:
           project_id: ${{ secrets.GCE_PROJECT }}
           credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
       - name: GCloud CLI setup
-        uses: google-github-actions/setup-gcloud@v1
+        uses: google-github-actions/setup-gcloud@v2
         with:
           version: ${{ env.GCE_CLI_GHA_VERSION }}
           project_id: ${{ secrets.GCE_PROJECT }}
diff --git a/.github/workflows/ubuntu-sycl.yml b/.github/workflows/ubuntu-sycl.yml
index 1c1ac21697d..984d0fe9485 100644
--- a/.github/workflows/ubuntu-sycl.yml
+++ b/.github/workflows/ubuntu-sycl.yml
@@ -1,6 +1,10 @@
 name: Ubuntu SYCL
+permissions:
+  contents: read
+  actions: write
 
 on:
+  workflow_dispatch:
   push:
     branches:
       - main
@@ -24,7 +28,7 @@ jobs:
         BUILD_SHARED_LIBS: [ON, OFF]
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Maximize build space
         run: |
           source util/ci_utils.sh
@@ -38,6 +42,7 @@ jobs:
           fi
       - name: Docker test
         run: |
+          du -hs $PWD
           if [ "${{ matrix.BUILD_SHARED_LIBS }}" = "ON" ]; then
             docker/docker_test.sh sycl-shared
           else
@@ -46,13 +51,13 @@ jobs:
 
       - name: GCloud CLI auth
         if: ${{ github.ref == 'refs/heads/main' }}
-        uses: 'google-github-actions/auth@v1'
+        uses: 'google-github-actions/auth@v2'
         with:
           project_id: ${{ secrets.GCE_PROJECT }}
           credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
       - name: GCloud CLI setup
         if: ${{ github.ref == 'refs/heads/main' }}
-        uses: google-github-actions/setup-gcloud@v1
+        uses: google-github-actions/setup-gcloud@v2
         with:
           version: ${{ env.GCE_CLI_GHA_VERSION }}
           project_id: ${{ secrets.GCE_PROJECT }}
diff --git a/.github/workflows/ubuntu-wheel.yml b/.github/workflows/ubuntu-wheel.yml
index a798762c965..733c52218ee 100644
--- a/.github/workflows/ubuntu-wheel.yml
+++ b/.github/workflows/ubuntu-wheel.yml
@@ -1,4 +1,7 @@
 name: Ubuntu Wheel
+permissions:
+  contents: write
+  actions: write
 
 on:
   workflow_dispatch:
@@ -47,7 +50,7 @@ jobs:
       OPEN3D_CPU_RENDERING: true
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Maximize build space
         run: |
           source util/ci_utils.sh
@@ -78,22 +81,22 @@ jobs:
           echo "PIP_PKG_NAME=$PIP_PKG_NAME" >> $GITHUB_ENV
           echo "PIP_CPU_PKG_NAME=$PIP_CPU_PKG_NAME" >> $GITHUB_ENV
       - name: Upload wheel to GitHub artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: open3d_linux_x86_64_wheels
+          name: ${{ env.PIP_PKG_NAME }}
           path: |
             ${{ env.PIP_PKG_NAME }}
             ${{ env.PIP_CPU_PKG_NAME }}
           if-no-files-found: error
       - name: GCloud CLI auth
         if: ${{ github.ref == 'refs/heads/main' }}
-        uses: 'google-github-actions/auth@v1'
+        uses: 'google-github-actions/auth@v2'
         with:
           project_id: ${{ secrets.GCE_PROJECT }}
           credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
       - name: GCloud CLI setup
         if: ${{ github.ref == 'refs/heads/main' }}
-        uses: google-github-actions/setup-gcloud@v1
+        uses: google-github-actions/setup-gcloud@v2
         with:
           version: ${{ env.GCE_CLI_GHA_VERSION }}
           project_id: ${{ secrets.GCE_PROJECT }}
@@ -101,14 +104,14 @@ jobs:
         if: ${{ github.ref == 'refs/heads/main' }}
         run: |
           gsutil cp ${GITHUB_WORKSPACE}/${{ env.CCACHE_TAR_NAME }}.tar.gz gs://open3d-ci-cache/
-      - name: Upload wheel to GCS
+      - name: Update devel release
         if: ${{ github.ref == 'refs/heads/main' }}
+        env:
+          GH_TOKEN: ${{ github.token }}
         run: |
-          gsutil cp ${GITHUB_WORKSPACE}/${{ env.PIP_PKG_NAME }} \
-            ${GITHUB_WORKSPACE}/${{ env.PIP_CPU_PKG_NAME }} gs://open3d-releases/python-wheels/
-          echo "Download pip package at:
-            https://storage.googleapis.com/open3d-releases/python-wheels/${{ env.PIP_PKG_NAME }}
-            https://storage.googleapis.com/open3d-releases/python-wheels/${{ env.PIP_CPU_PKG_NAME }}"
+          gh release upload main-devel ${GITHUB_WORKSPACE}/${{ env.PIP_PKG_NAME }} \
+          ${GITHUB_WORKSPACE}/${{ env.PIP_CPU_PKG_NAME }} --clobber
+          gh release view main-devel
 
   test-wheel-cpu:
     name: Test wheel CPU
@@ -131,22 +134,23 @@ jobs:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Maximize build space
         run: |
           source util/ci_utils.sh
           maximize_ubuntu_github_actions_build_space
       - name: Checkout Open3D-ML source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           repository: isl-org/Open3D-ML
           path: ${{ env.OPEN3D_ML_ROOT }}
       - name: Download wheels
-        uses: actions/download-artifact@v3
+        uses: actions/download-artifact@v4
         with:
-          name: open3d_linux_x86_64_wheels
+          pattern: open3d*-manylinux*.whl
+          merge-multiple: true
       - name: Set up Python
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: ${{ matrix.python_version }}
       - name: Test Python package
@@ -173,39 +177,3 @@ jobs:
           source util/ci_utils.sh
           echo "Running Open3D python tests (CPU wheel)..."
           run_python_tests
-
-  ready-docs:
-    name: Ready docs archive
-    runs-on: ubuntu-latest
-    if: ${{ github.ref == 'refs/heads/main' }}
-    needs: [build-wheel]
-    steps:
-      - name: GCloud CLI auth
-        uses: 'google-github-actions/auth@v1'
-        with:
-          project_id: ${{ secrets.GCE_PROJECT }}
-          credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
-      - name: GCloud CLI setup
-        uses: google-github-actions/setup-gcloud@v1
-        with:
-          version: ${{ env.GCE_CLI_GHA_VERSION }}
-          project_id: ${{ secrets.GCE_PROJECT }}
-      - name: Check wheels and ready documentation archive
-        run: |
-            touch marker_file
-            gsutil cp marker_file gs://open3d-docs/${{ github.sha }}_ready_ubuntu
-            if [ $(gsutil ls gs://open3d-docs/${{ github.sha }}_ready* | wc -l)\
-                -eq 4 ]; then
-                echo "All wheels and docs available. Making docs ready."
-                # Remove all marker files: Note _ at end of pattern.
-                gsutil rm gs://open3d-docs/${{ github.sha }}_ready_*
-                # Rename docs archive:
-                gsutil mv gs://open3d-docs/${{ github.sha }}_ready.tar.gz \
-                    gs://open3d-docs/${{ github.sha }}.tar.gz
-                # Set holds on new artifacts, release on old
-                gsutil retention temp release gs://open3d-releases/*
-                gsutil retention temp set gs://open3d-releases/python-wheels/*${GITHUB_SHA:0:7}*.whl
-                gsutil retention temp set gs://open3d-releases/devel/*${GITHUB_SHA:0:7}*
-            else
-                echo "All wheels / docs not available yet."
-            fi
diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index 1a69ec4da2d..08ef6721fea 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -1,4 +1,7 @@
 name: Ubuntu
+permissions:
+  contents: write
+  actions: write
 
 on:
   workflow_dispatch:
@@ -19,7 +22,6 @@ concurrency:
 
 env:
   NPROC: 2
-  GCE_CLI_GHA_VERSION: "416.0.0"
 
 jobs:
   ubuntu:
@@ -39,7 +41,7 @@ jobs:
       OPEN3D_CPU_RENDERING: true
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Maximize build space
         run: |
           source util/ci_utils.sh
@@ -72,32 +74,26 @@ jobs:
           fi
       - name: Upload package to GitHub artifacts
         if: ${{ env.BUILD_SHARED_LIBS == 'ON' }}
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: open3d-devel-linux-x86_64
+          name: open3d-devel-linux-x86_64-ML_${{ matrix.MLOPS }}
           path: open3d-devel-*.tar.xz
           if-no-files-found: error
       - name: Upload viewer to GitHub artifacts
         if: ${{ env.BUILD_SHARED_LIBS == 'OFF' }}
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: open3d-viewer-Linux
           path: open3d-viewer-*-Linux.deb
           if-no-files-found: error
-      - name: GCloud CLI auth
+      - name: Update devel release
         if: ${{ github.ref == 'refs/heads/main' }}
-        uses: 'google-github-actions/auth@v1'
-        with:
-          project_id: ${{ secrets.GCE_PROJECT }}
-          credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
-      - name: GCloud CLI setup
-        if: ${{ github.ref == 'refs/heads/main' }}
-        uses: google-github-actions/setup-gcloud@v1
-        with:
-          version: ${{ env.GCE_CLI_GHA_VERSION }}
-          project_id: ${{ secrets.GCE_PROJECT }}
-      - name: Upload package to GCS bucket
-        if: ${{ github.ref == 'refs/heads/main' && env.BUILD_SHARED_LIBS == 'ON' }}
+        env:
+          GH_TOKEN: ${{ github.token }}
         run: |
-          gsutil cp open3d-devel-*.tar.xz gs://open3d-releases/devel/
-          echo "Download devel package at: https://storage.googleapis.com/open3d-releases/devel/${{ env.DEVEL_PKG_NAME }}"
+          if [ ${BUILD_SHARED_LIBS} == 'ON' ] ; then
+            gh release upload main-devel open3d-devel-*.tar.xz --clobber
+          else
+            gh release upload main-devel open3d-viewer-*-Linux.deb --clobber
+          fi
+          gh release view main-devel
diff --git a/.github/workflows/vtk_packages.yml b/.github/workflows/vtk_packages.yml
index 8ae7d812187..a134daeb71a 100644
--- a/.github/workflows/vtk_packages.yml
+++ b/.github/workflows/vtk_packages.yml
@@ -1,8 +1,8 @@
 name: VTK Packages
+permissions:
+  contents: write
 
 on:
-  # pull_request:
-    # branches: [ main ]
   # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
 
@@ -13,7 +13,7 @@ jobs:
     runs-on: ubuntu-18.04
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: CMake configure
         run: |
           mkdir build
@@ -25,7 +25,7 @@ jobs:
           make -j$(nproc)
           cmake -E sha256sum vtk*.tar.gz > checksum_linux.txt
       - name: Upload artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: vtk_linux
           path: |
@@ -53,7 +53,7 @@ jobs:
       - name: Disk space used
         run: Get-PSDrive
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Config
         # Move build directory to C: https://github.com/actions/virtual-environments/issues/1341
         run: |
@@ -75,7 +75,7 @@ jobs:
           ls
           cmake -E sha256sum (get-item vtk*.tar.gz).Name > checksum_win_${{matrix.configuration}}.txt
       - name: Upload package
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: vtk_windows_${{matrix.configuration}}
           path: |
@@ -90,7 +90,7 @@ jobs:
 
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: CMake configure
         run: |
           mkdir build
@@ -102,7 +102,7 @@ jobs:
           make -j2
           cmake -E sha256sum vtk*.tar.gz > checksum_macos.txt
       - name: Upload artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: vtk_macos
           path: |
diff --git a/.github/workflows/webrtc.yml b/.github/workflows/webrtc.yml
index 4602379d00f..91a9a5b122d 100644
--- a/.github/workflows/webrtc.yml
+++ b/.github/workflows/webrtc.yml
@@ -1,4 +1,7 @@
 name: WebRTC
+permissions:
+  contents: write
+  actions: write
 
 on:
   workflow_dispatch:
@@ -37,10 +40,10 @@ jobs:
 
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Set up Python version
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: 3.8
 
@@ -61,9 +64,9 @@ jobs:
           build_webrtc
 
       - name: Upload WebRTC
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: webrtc_release
+          name: webrtc_release_${{ matrix.os }}
           path: |
                  webrtc_*.tar.gz
                  checksum_*.txt
@@ -81,10 +84,10 @@ jobs:
 
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Set up Python version
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: '3.8'
 
@@ -167,9 +170,9 @@ jobs:
           cmake -E sha256sum webrtc_${env:WEBRTC_COMMIT_SHORT}_win.zip | Tee-Object -FilePath checksum_win.txt
 
       - name: Upload WebRTC
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: webrtc_release
+          name: webrtc_release_windows
           path: |
                  ${{ env.WORK_DIR }}/webrtc_*.zip
                  ${{ env.WORK_DIR }}/checksum_*.txt
diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index d687f6b7e33..c3c1d1e8395 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -1,4 +1,7 @@
 name: Windows
+permissions:
+  contents: write
+  actions: write
 
 on:
   workflow_dispatch:
@@ -28,7 +31,6 @@ env:
   BUILD_DIR: "C:\\Open3D\\build"
   NPROC: 2
   DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }}
-  GCE_CLI_GHA_VERSION: '416.0.0'      # Fixed to avoid dependency on API changes
 
 jobs:
   windows:
@@ -54,7 +56,7 @@ jobs:
         run: Get-PSDrive
 
       - name: Setup Windows SDK
-        uses: GuillaumeFalourd/setup-windows10-sdk-action@v1.11
+        uses: GuillaumeFalourd/setup-windows10-sdk-action@v2
         with:
           sdk-version: 19041
 
@@ -92,10 +94,10 @@ jobs:
           echo "$CUDA_PATH\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
 
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Set up Python version
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: 3.8
 
@@ -148,12 +150,20 @@ jobs:
 
       - name: Upload Package
         if: ${{ matrix.BUILD_SHARED_LIBS == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' }}
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: open3d-devel-windows
+          name: ${{ env.DEVEL_PKG_NAME }}
           path: ${{ env.BUILD_DIR }}/package/${{ env.DEVEL_PKG_NAME }}
           if-no-files-found: error
 
+      - name: Update devel release with package
+        if: ${{ github.ref == 'refs/heads/main' && matrix.BUILD_SHARED_LIBS == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' }}
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          gh release upload main-devel ${{ env.BUILD_DIR }}/package/${{ env.DEVEL_PKG_NAME }} --clobber
+          gh release view main-devel
+
       - name: Viewer App
         working-directory: ${{ env.BUILD_DIR }}
         if: ${{ matrix.BUILD_SHARED_LIBS == 'OFF' && matrix.STATIC_RUNTIME == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' && matrix.CONFIG == 'Release' }}
@@ -166,35 +176,22 @@ jobs:
 
       - name: Upload Viewer
         if: ${{ matrix.BUILD_SHARED_LIBS == 'OFF' && matrix.STATIC_RUNTIME == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' && matrix.CONFIG == 'Release' }}
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: open3d-app-windows-amd64
           path: C:\Program Files\Open3D\bin\Open3D
           if-no-files-found: error
 
-      - name: GCloud CLI auth
-        if: ${{ github.ref == 'refs/heads/main' && matrix.BUILD_SHARED_LIBS == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' }}
-        uses: google-github-actions/auth@v1
-        with:
-          project_id: ${{ secrets.GCE_PROJECT }}
-          credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
-      - name: GCloud CLI setup
-        if: ${{ github.ref == 'refs/heads/main' && matrix.BUILD_SHARED_LIBS == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' }}
-        uses: google-github-actions/setup-gcloud@v1
-        with:
-          version: ${{ env.GCE_CLI_GHA_VERSION }}
-          project_id: ${{ secrets.GCE_DOCS_PROJECT }}
-
-      - name: Upload package to GCS bucket
-        if: ${{ github.ref == 'refs/heads/main' && matrix.BUILD_SHARED_LIBS == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' }}
+      - name: Update devel release with viewer
+        if: ${{ github.ref == 'refs/heads/main' && matrix.BUILD_SHARED_LIBS == 'OFF' && matrix.STATIC_RUNTIME == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' && matrix.CONFIG == 'Release' }}
+        env:
+          GH_TOKEN: ${{ github.token }}
         run: |
-          gsutil cp ${{ env.BUILD_DIR }}/package/${{ env.DEVEL_PKG_NAME }} `
-            gs://open3d-releases/devel/
-          if ($LastExitCode -eq 0) {
-            echo "Download devel package at: https://storage.googleapis.com/open3d-releases/devel/${{ env.DEVEL_PKG_NAME }}"
-          } else {
-            throw "Devel package upload failed"
-          }
+          $Env:OPEN3D_VERSION_FULL = (Select-String -Path "C:/Open3D/build/CMakeCache.txt" -Pattern "OPEN3D_VERSION_FULL").Line.Split('=')[1]
+          Compress-Archive -Path "C:/Program Files/Open3D/bin/Open3D" -DestinationPath `
+            "open3d-$Env:OPEN3D_VERSION_FULL-app-windows-amd64.zip"
+          gh release upload main-devel "open3d-$Env:OPEN3D_VERSION_FULL-app-windows-amd64.zip" --clobber
+          gh release view main-devel
 
       - name: Run C++ unit tests
         if: ${{ matrix.BUILD_CUDA_MODULE == 'OFF' }}
@@ -255,15 +252,15 @@ jobs:
 
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Setup Windows SDK
-        uses: GuillaumeFalourd/setup-windows10-sdk-action@v1.11
+        uses: GuillaumeFalourd/setup-windows10-sdk-action@v2
         with:
           sdk-version: 19041
 
       - name: Set up Python
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: ${{ matrix.python_version }}
 
@@ -307,38 +304,19 @@ jobs:
           echo "PIP_PKG_NAME=$PIP_PKG_NAME"  | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
 
       - name: Upload wheel
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: open3d_win_amd64_wheels
+          name: ${{ env.PIP_PKG_NAME }}
           path: ${{ env.BUILD_DIR }}/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }}
           if-no-files-found: error
 
-      - name: GCloud CLI auth
-        if: ${{ github.ref == 'refs/heads/main' }}
-        uses: google-github-actions/auth@v1
-        with:
-          project_id: ${{ secrets.GCE_PROJECT }}
-          credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
-      - name: GCloud CLI setup
-        if: ${{ github.ref == 'refs/heads/main' }}
-        uses: google-github-actions/setup-gcloud@v1
-        with:
-          version: ${{ env.GCE_CLI_GHA_VERSION }}
-          project_id: ${{ secrets.GCE_DOCS_PROJECT }}
-
-      - name: Upload wheel to GCS bucket
+      - name: Update devel release with wheel
         if: ${{ github.ref == 'refs/heads/main' }}
         env:
-          python_version: ${{ matrix.python_version }}
+          GH_TOKEN: ${{ github.token }}
         run: |
-          $ErrorActionPreference = 'Stop'
-          $PYTAG="-cp$(${{ env.python_version }} -replace '\.', '')"
-          gsutil cp ${{ env.BUILD_DIR }}/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }} gs://open3d-releases/python-wheels/
-          if ($LastExitCode -eq 0) {
-            echo "Download pip package at: https://storage.googleapis.com/open3d-releases/python-wheels/${{ env.PIP_PKG_NAME }}"
-          } else {
-            throw "Wheel upload failed"
-          }
+          gh release upload main-devel ${{ env.BUILD_DIR }}/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }} --clobber
+          gh release view main-devel
 
   test-wheel:
     name: Test wheel
@@ -360,17 +338,16 @@ jobs:
 
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Download wheels
-        uses: actions/download-artifact@v3
-        # See https://github.com/dawidd6/action-download-artifact for more
-        # flexible artifact download options
+        uses: actions/download-artifact@v4
         with:
-          name: open3d_win_amd64_wheels
+          pattern: open3d-*win*.whl
+          merge-multiple: true
 
       - name: Set up Python
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: ${{ matrix.python_version }}
 
@@ -395,7 +372,6 @@ jobs:
           python -m pip install "$PIP_PKG_NAME"
           python -c "import open3d; print('Imported:', open3d)"
           python -c "import open3d; print('CUDA enabled: ', open3d.core.cuda.is_available())"
-
           deactivate
 
       - name: Run Python unit tests
@@ -407,42 +383,3 @@ jobs:
           echo "Testing ML and ML Ops disabled"
           python -m pytest python/test/ --ignore python/test/ml_ops/
           deactivate
-
-  ready-docs:
-    name: Ready docs archive
-    # no need to run on Windows
-    runs-on: ubuntu-latest
-    if: ${{ github.ref == 'refs/heads/main' }}
-    # temp workaround for Windows CUDA Debug CI out of space. Still update docs.
-    # needs: [build-wheel, windows]
-    needs: [build-wheel]
-    steps:
-      - name: GCloud CLI auth
-        uses: google-github-actions/auth@v1
-        with:
-          project_id: ${{ secrets.GCE_PROJECT }}
-          credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
-      - name: GCloud CLI setup
-        uses: google-github-actions/setup-gcloud@v1
-        with:
-          version: ${{ env.GCE_CLI_GHA_VERSION }}
-          project_id: ${{ secrets.GCE_PROJECT }}
-      - name: Check wheels and ready documentation archive
-        run: |
-            touch marker_file
-            gsutil cp marker_file gs://open3d-docs/${{ github.sha }}_ready_windows
-            if [ $(gsutil ls gs://open3d-docs/${{ github.sha }}_ready* | wc -l)\
-                -eq 4 ]; then
-                echo "All wheels and docs available. Making docs ready."
-                # Remove all marker files: Note _ at end of pattern.
-                gsutil rm gs://open3d-docs/${{ github.sha }}_ready_*
-                # Rename docs archive:
-                gsutil mv gs://open3d-docs/${{ github.sha }}_ready.tar.gz \
-                    gs://open3d-docs/${{ github.sha }}.tar.gz
-                # Set holds on new artifacts, release on old
-                gsutil retention temp release gs://open3d-releases/*
-                gsutil retention temp set gs://open3d-releases/python-wheels/*${GITHUB_SHA:0:7}*.whl
-                gsutil retention temp set gs://open3d-releases/devel/*${GITHUB_SHA:0:7}*
-            else
-                echo "All wheels / docs not available yet."
-            fi
diff --git a/3rdparty/civetweb/civetweb.cmake b/3rdparty/civetweb/civetweb.cmake
index dc8d556ea64..5d4749fe4e7 100644
--- a/3rdparty/civetweb/civetweb.cmake
+++ b/3rdparty/civetweb/civetweb.cmake
@@ -3,8 +3,8 @@ include(ExternalProject)
 ExternalProject_Add(
     ext_civetweb
     PREFIX civetweb
-    URL https://github.com/civetweb/civetweb/archive/refs/tags/v1.15.tar.gz
-    URL_HASH SHA256=90a533422944ab327a4fbb9969f0845d0dba05354f9cacce3a5005fa59f593b9
+    URL https://github.com/civetweb/civetweb/archive/refs/tags/v1.16.tar.gz
+    URL_HASH SHA256=f0e471c1bf4e7804a6cfb41ea9d13e7d623b2bcc7bc1e2a4dd54951a24d60285
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/civetweb"
     UPDATE_COMMAND ""
     CMAKE_ARGS
diff --git a/3rdparty/embree/embree.cmake b/3rdparty/embree/embree.cmake
index 4e93eadf19e..35d27f11048 100644
--- a/3rdparty/embree/embree.cmake
+++ b/3rdparty/embree/embree.cmake
@@ -8,13 +8,11 @@ include(ExternalProject)
 # select ISAs
 if(APPLE)
     if(APPLE_AARCH64)
-        # Turn off ISA optimizations for Apple ARM64 for now.
-        set(ISA_ARGS -DEMBREE_ISA_AVX=OFF
-                     -DEMBREE_ISA_AVX2=OFF
-                     -DEMBREE_ISA_AVX512=OFF
-                     -DEMBREE_ISA_SSE2=OFF
-                     -DEMBREE_ISA_SSE42=OFF
+        set(ISA_ARGS -DEMBREE_ISA_NEON=OFF
+                     -DEMBREE_ISA_NEON2X=ON
         )
+        set(ISA_LIBS embree_avx2)
+        set(ISA_BUILD_BYPRODUCTS "<INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}embree_avx2${CMAKE_STATIC_LIBRARY_SUFFIX}")
     else()
         # With AppleClang we can select only 1 ISA.
         set(ISA_ARGS -DEMBREE_ISA_AVX=OFF
@@ -69,8 +67,8 @@ endif()
 ExternalProject_Add(
     ext_embree
     PREFIX embree
-    URL https://github.com/embree/embree/archive/refs/tags/v3.13.3.tar.gz
-    URL_HASH SHA256=74ec785afb8f14d28ea5e0773544572c8df2e899caccdfc88509f1bfff58716f
+    URL https://github.com/embree/embree/archive/refs/tags/v4.3.1.tar.gz
+    URL_HASH SHA256=824edcbb7a8cd393c5bdb7a16738487b21ecc4e1d004ac9f761e934f97bb02a4
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/embree"
     UPDATE_COMMAND ""
     CMAKE_ARGS
@@ -88,7 +86,7 @@ ExternalProject_Add(
         -DEMBREE_TASKING_SYSTEM=INTERNAL
         ${WIN_CMAKE_ARGS}
     BUILD_BYPRODUCTS
-        <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}embree3${CMAKE_STATIC_LIBRARY_SUFFIX}
+        <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}embree4${CMAKE_STATIC_LIBRARY_SUFFIX}
         <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}simd${CMAKE_STATIC_LIBRARY_SUFFIX}
         <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}lexers${CMAKE_STATIC_LIBRARY_SUFFIX}
         <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}sys${CMAKE_STATIC_LIBRARY_SUFFIX}
@@ -100,4 +98,4 @@ ExternalProject_Add(
 ExternalProject_Get_Property(ext_embree INSTALL_DIR)
 set(EMBREE_INCLUDE_DIRS ${INSTALL_DIR}/include/ ${INSTALL_DIR}/src/ext_embree/) # "/" is critical.
 set(EMBREE_LIB_DIR ${INSTALL_DIR}/${Open3D_INSTALL_LIB_DIR})
-set(EMBREE_LIBRARIES embree3 ${ISA_LIBS} simd lexers sys math tasking)
+set(EMBREE_LIBRARIES embree4 ${ISA_LIBS} simd lexers sys math tasking)
diff --git a/3rdparty/filament/filament_build.cmake b/3rdparty/filament/filament_build.cmake
index cf2d650530e..432f55a28c0 100644
--- a/3rdparty/filament/filament_build.cmake
+++ b/3rdparty/filament/filament_build.cmake
@@ -72,5 +72,6 @@ ExternalProject_Add(
         -DFILAMENT_SUPPORTS_VULKAN=OFF
         -DFILAMENT_SKIP_SAMPLES=ON
         -DFILAMENT_OPENGL_HANDLE_ARENA_SIZE_IN_MB=20 # to support many small entities
+        -DSPIRV_WERROR=OFF
     BUILD_BYPRODUCTS ${lib_byproducts}
 )
diff --git a/3rdparty/filament/filament_download.cmake b/3rdparty/filament/filament_download.cmake
index ef41dd17faf..f21cc91c31b 100644
--- a/3rdparty/filament/filament_download.cmake
+++ b/3rdparty/filament/filament_download.cmake
@@ -26,9 +26,17 @@ else()
             string(APPEND lib_dir /x86_64/md)
         endif()
     elseif(APPLE)
-        set(FILAMENT_URL https://github.com/google/filament/releases/download/v1.9.19/filament-v1.9.19-mac.tgz)
-        set(FILAMENT_SHA256 2765d0ce60647fc17d1880c4618cf7d6b5343d8be4dad87978c3917d9c723b4e)
-        string(APPEND lib_dir /x86_64)
+        if (APPLE_AARCH64)
+            set(FILAMENT_URL https://github.com/isl-org/open3d_downloads/releases/download/filament/filament-v1.9.19-macos_arm64.tgz)
+            set(FILAMENT_SHA256 3422bdff451d90144fbb69e625d8dcaeaf3222dc2c28879536067937955bc362)
+            string(APPEND lib_dir /arm64)
+            # Our arm64 builds use FILAMENT_SUPPORTS_VULKAN=OFF
+            list(REMOVE_ITEM filament_LIBRARIES bluevk)
+        else()
+            set(FILAMENT_URL https://github.com/google/filament/releases/download/v1.9.19/filament-v1.9.19-mac.tgz)
+            set(FILAMENT_SHA256 2765d0ce60647fc17d1880c4618cf7d6b5343d8be4dad87978c3917d9c723b4e)
+            string(APPEND lib_dir /x86_64)
+        endif()
     else()      # Linux: Check glibc version and use open3d filament binary if new (Ubuntu 20.04 and similar)
         execute_process(COMMAND ldd --version OUTPUT_VARIABLE ldd_version)
         string(REGEX MATCH "([0-9]+\.)+[0-9]+" glibc_version ${ldd_version})
diff --git a/3rdparty/find_dependencies.cmake b/3rdparty/find_dependencies.cmake
index 169bfbe1a54..d929b27728a 100644
--- a/3rdparty/find_dependencies.cmake
+++ b/3rdparty/find_dependencies.cmake
@@ -96,8 +96,6 @@ function(open3d_build_3rdparty_library name)
     if(arg_SOURCES)
         foreach(src IN LISTS arg_SOURCES)
             get_filename_component(abs_src "${src}" ABSOLUTE BASE_DIR "${arg_DIRECTORY}")
-            # Mark as generated to skip CMake's file existence checks
-            set_source_files_properties(${abs_src} PROPERTIES GENERATED TRUE)
             target_sources(${name} PRIVATE ${abs_src})
         endforeach()
         foreach(incl IN LISTS include_dirs)
@@ -1030,8 +1028,6 @@ if(NOT USE_SYSTEM_QHULLCPP)
             src/libqhull_r/rboxlib_r.c
         INCLUDE_DIRS
             src/
-        DEPENDS
-            ext_qhull
     )
     open3d_build_3rdparty_library(3rdparty_qhullcpp DIRECTORY ${QHULL_SOURCE_DIR}
         SOURCES
@@ -1057,8 +1053,6 @@ if(NOT USE_SYSTEM_QHULLCPP)
             src/libqhullcpp/RoadLogEvent.cpp
         INCLUDE_DIRS
             src/
-        DEPENDS
-            ext_qhull
     )
     target_link_libraries(3rdparty_qhullcpp PRIVATE 3rdparty_qhull_r)
     list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_CUSTOM Open3D::3rdparty_qhullcpp)
@@ -1158,8 +1152,6 @@ if (BUILD_UNIT_TESTS)
                 googletest/
                 googlemock/include/
                 googlemock/
-            DEPENDS
-                ext_googletest
         )
     endif()
 endif()
@@ -1190,8 +1182,6 @@ if(BUILD_GUI)
                 imgui_tables.cpp
                 imgui_widgets.cpp
                 imgui.cpp
-            DEPENDS
-                ext_imgui
         )
         list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_CUSTOM Open3D::3rdparty_imgui)
     else()
diff --git a/3rdparty/googletest/googletest.cmake b/3rdparty/googletest/googletest.cmake
index 706bf35204a..dd84c07c32c 100644
--- a/3rdparty/googletest/googletest.cmake
+++ b/3rdparty/googletest/googletest.cmake
@@ -1,6 +1,6 @@
-include(ExternalProject)
+include(FetchContent)
 
-ExternalProject_Add(
+FetchContent_Declare(
     ext_googletest
     PREFIX googletest
     URL https://github.com/google/googletest/archive/refs/tags/release-1.11.0.tar.gz
@@ -12,5 +12,5 @@ ExternalProject_Add(
     INSTALL_COMMAND ""
 )
 
-ExternalProject_Get_Property(ext_googletest SOURCE_DIR)
-set(GOOGLETEST_SOURCE_DIR ${SOURCE_DIR})
+FetchContent_Populate(ext_googletest)
+FetchContent_GetProperties(ext_googletest SOURCE_DIR GOOGLETEST_SOURCE_DIR)
diff --git a/3rdparty/imgui/imgui.cmake b/3rdparty/imgui/imgui.cmake
index 752addd86a1..12ea3175736 100644
--- a/3rdparty/imgui/imgui.cmake
+++ b/3rdparty/imgui/imgui.cmake
@@ -1,6 +1,6 @@
-include(ExternalProject)
+include(FetchContent)
 
-ExternalProject_Add(
+FetchContent_Declare(
     ext_imgui
     PREFIX imgui
     URL https://github.com/ocornut/imgui/archive/refs/tags/v1.88.tar.gz
@@ -12,5 +12,5 @@ ExternalProject_Add(
     INSTALL_COMMAND ""
 )
 
-ExternalProject_Get_Property(ext_imgui SOURCE_DIR)
-set(IMGUI_SOURCE_DIR ${SOURCE_DIR})
+FetchContent_Populate(ext_imgui)
+FetchContent_GetProperties(ext_imgui SOURCE_DIR IMGUI_SOURCE_DIR)
diff --git a/3rdparty/librealsense/fix-macos-arm64.patch b/3rdparty/librealsense/fix-macos-arm64.patch
new file mode 100644
index 00000000000..0de73a574a1
--- /dev/null
+++ b/3rdparty/librealsense/fix-macos-arm64.patch
@@ -0,0 +1,22 @@
+From beb4c44debc8336de991c983274cad841eb5c323 Mon Sep 17 00:00:00 2001
+From: Pavol Rusnak <pavol@rusnak.io>
+Date: Sun, 20 Jun 2021 12:26:58 +0200
+Subject: [PATCH] Fix build on macOS arm64
+
+---
+ src/proc/color-formats-converter.cpp | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/src/proc/color-formats-converter.cpp b/src/proc/color-formats-converter.cpp
+index 564a23d9c4..6c6c8c97d8 100644
+--- a/src/proc/color-formats-converter.cpp
++++ b/src/proc/color-formats-converter.cpp
+@@ -18,7 +18,7 @@
+ #include <tmmintrin.h> // For SSSE3 intrinsics
+ #endif
+ 
+-#if defined (ANDROID) || (defined (__linux__) && !defined (__x86_64__))
++#if defined (ANDROID) || (defined (__linux__) && !defined (__x86_64__)) || (defined (__APPLE__) && !defined (__x86_64__))
+ 
+ bool has_avx() { return false; }
+ 
diff --git a/3rdparty/librealsense/librealsense.cmake b/3rdparty/librealsense/librealsense.cmake
index c6b4e358e32..e5caa700df7 100644
--- a/3rdparty/librealsense/librealsense.cmake
+++ b/3rdparty/librealsense/librealsense.cmake
@@ -17,6 +17,9 @@ ExternalProject_Add(
     COMMAND ${GIT_EXECUTABLE} init
     COMMAND ${GIT_EXECUTABLE} apply --ignore-space-change --ignore-whitespace
         ${CMAKE_CURRENT_LIST_DIR}/fix-cudacrt.patch
+    # Patch for macOS ARM64 support for versions < 2.50.0
+    COMMAND ${GIT_EXECUTABLE} apply --ignore-space-change --ignore-whitespace
+        ${CMAKE_CURRENT_LIST_DIR}/fix-macos-arm64.patch
     CMAKE_ARGS
         -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
         -DBUILD_SHARED_LIBS=OFF
diff --git a/3rdparty/qhull/qhull.cmake b/3rdparty/qhull/qhull.cmake
index c20c86c471f..fe15e83ca6f 100644
--- a/3rdparty/qhull/qhull.cmake
+++ b/3rdparty/qhull/qhull.cmake
@@ -1,6 +1,6 @@
-include(ExternalProject)
+include(FetchContent)
 
-ExternalProject_Add(
+FetchContent_Declare(
     ext_qhull
     PREFIX qhull
     # v8.0.0+ causes seg fault
@@ -14,5 +14,5 @@ ExternalProject_Add(
     INSTALL_COMMAND ""
 )
 
-ExternalProject_Get_Property(ext_qhull SOURCE_DIR)
-set(QHULL_SOURCE_DIR ${SOURCE_DIR})
+FetchContent_Populate(ext_qhull)
+FetchContent_GetProperties(ext_qhull SOURCE_DIR QHULL_SOURCE_DIR)
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 24227ccae65..737669fbf2e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,4 +1,5 @@
 ## Main
+
 -   Fix TriangleMesh::SamplePointsUniformly not sampling triangle meshes uniformly (PR #6653)
 -   Fix tensor based TSDF integration example.
 -   Use GLIBCXX_USE_CXX11_ABI=ON by default
@@ -33,6 +34,10 @@
 -   Add Python pathlib support for file IO (PR #6619)
 -   Fix log error message for `probability` argument validation in `PointCloud::SegmentPlane` (PR #6622)
 -   `TriangleMesh`'s `+=` operator appends UVs regardless of the presence of existing features (PR #6728)
+-   Fix macOS arm64 builds, add CI runner for macOS arm64 (PR #6695)
+-   Fix KDTreeFlann possibly using a dangling pointer instead of internal storage and simplified its members (PR #6734)
+-   Fix RANSAC early stop if no inliers in a specific iteration (PR #6789)
+-   Fix segmentation fault (infinite recursion) of DetectPlanarPatches if multiple points have same coordinates (PR #6794)
 
 ## 0.13
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8d03dad7dc6..6e5784bb4aa 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,11 +12,6 @@ cmake_minimum_required(VERSION 3.20)
 # CMake 3.20+ is required to:
 # - detect IntelLLVM compiler for SYCL
 
-if (APPLE)
-set (CMAKE_OSX_DEPLOYMENT_TARGET "10.15" CACHE STRING
-    "Minimum OS X deployment version" FORCE)
-endif()
-
 # CMAKE_HOST_SYSTEM_PROCESSOR is only available after calling project(),
 # which depends on ${OPEN3D_VERSION}, which depends on ${DEVELOPER_BUILD}.
 if(UNIX AND NOT APPLE)
@@ -35,6 +30,11 @@ if(APPLE)
     )
     if(PROCESSOR_ARCH STREQUAL "arm64")
         set(APPLE_AARCH64 TRUE)
+        set (CMAKE_OSX_DEPLOYMENT_TARGET "11.0" CACHE STRING
+            "Minimum OS X deployment version" FORCE)
+    else()
+        set (CMAKE_OSX_DEPLOYMENT_TARGET "10.15" CACHE STRING
+            "Minimum OS X deployment version" FORCE)
     endif()
 endif()
 
@@ -117,9 +117,12 @@ option(USE_SYSTEM_VTK             "Use system pre-installed VTK"             OFF
 option(USE_SYSTEM_ZEROMQ          "Use system pre-installed ZeroMQ"          OFF)
 if(LINUX_AARCH64 OR APPLE_AARCH64)
     option(BUILD_VTK_FROM_SOURCE      "Build VTK from source"                ON )
-    option(BUILD_FILAMENT_FROM_SOURCE "Build filament from source"           ON )
 else()
     option(BUILD_VTK_FROM_SOURCE      "Build VTK from source"                OFF)
+endif()
+if(LINUX_AARCH64)
+    option(BUILD_FILAMENT_FROM_SOURCE "Build filament from source"           ON )
+else()
     option(BUILD_FILAMENT_FROM_SOURCE "Build filament from source"           OFF)
 endif()
 
@@ -198,7 +201,7 @@ cmake_policy(GET CMP0072 CMP0072_VALUE)
 if ((LINUX_AARCH64 OR APPLE_AARCH64) AND BUILD_ISPC_MODULE)
     message(FATAL_ERROR "ISPC module is not yet supported on ARM Linux")
 endif()
-if ((LINUX_AARCH64 OR APPLE_AARCH64) AND NOT BUILD_FILAMENT_FROM_SOURCE)
+if (LINUX_AARCH64 AND NOT BUILD_FILAMENT_FROM_SOURCE)
     message(FATAL_ERROR "ARM CPU detected, you must set BUILD_FILAMENT_FROM_SOURCE=ON.")
 endif()
 if ((LINUX_AARCH64 OR APPLE_AARCH64) AND NOT USE_BLAS)
@@ -254,7 +257,8 @@ string(CONCAT OPEN3D_VERSION
     ".${OPEN3D_VERSION_MINOR}"
     ".${OPEN3D_VERSION_PATCH}"
 )
-set(OPEN3D_VERSION_FULL "${OPEN3D_VERSION}${OPEN3D_VERSION_DEVHASH}")
+set(OPEN3D_VERSION_FULL "${OPEN3D_VERSION}${OPEN3D_VERSION_DEVHASH}" CACHE
+    STRING "Open3D full version.")
 # Set additional info
 set(PROJECT_EMAIL       "open3d@intel.com")
 set(PROJECT_DOCS        "https://www.open3d.org/docs")
diff --git a/SECURITY.md b/SECURITY.md
new file mode 100644
index 00000000000..38d9c833993
--- /dev/null
+++ b/SECURITY.md
@@ -0,0 +1,5 @@
+# Security Policy
+Intel is committed to rapidly addressing security vulnerabilities affecting our customers and providing clear guidance on the solution, impact, severity and mitigation. 
+
+## Reporting a Vulnerability
+Please report any security vulnerabilities in this project utilizing the guidelines [here](https://www.intel.com/content/www/us/en/security-center/vulnerability-handling-guidelines.html).
\ No newline at end of file
diff --git a/cmake/Open3DFetchISPCCompiler.cmake b/cmake/Open3DFetchISPCCompiler.cmake
index 3f7940c648b..1753b52325e 100644
--- a/cmake/Open3DFetchISPCCompiler.cmake
+++ b/cmake/Open3DFetchISPCCompiler.cmake
@@ -50,7 +50,11 @@ function(open3d_fetch_ispc_compiler)
         )
 
         FetchContent_MakeAvailable(ext_ispc)
+        if (WIN32)
+            set(CMAKE_ISPC_COMPILER "${ext_ispc_SOURCE_DIR}/bin/ispc.exe" PARENT_SCOPE)
+        else()  # Linux
+            set(CMAKE_ISPC_COMPILER "${ext_ispc_SOURCE_DIR}/bin/ispc" PARENT_SCOPE)
+        endif()
 
-        set(CMAKE_ISPC_COMPILER "${ext_ispc_SOURCE_DIR}/bin/ispc" PARENT_SCOPE)
     endif()
 endfunction()
diff --git a/cpp/apps/Open3DViewer/Debian/CMakeLists.in.txt b/cpp/apps/Open3DViewer/Debian/CMakeLists.in.txt
index 9320f265d3e..b7bce43f4c6 100644
--- a/cpp/apps/Open3DViewer/Debian/CMakeLists.in.txt
+++ b/cpp/apps/Open3DViewer/Debian/CMakeLists.in.txt
@@ -32,7 +32,7 @@ set(CPACK_PACKAGE_NAME "open3d-viewer")
 set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Open3D Viewer for 3D files")
 set(CPACK_PACKAGE_CONTACT "Open3D team <@PROJECT_EMAIL@>")
 set(CPACK_DEBIAN_PACKAGE_SECTION "Graphics")
-set(CPACK_PACKAGE_VERSION "@OPEN3D_VERSION@")
+set(CPACK_PACKAGE_VERSION "@OPEN3D_VERSION_FULL@")
 set(CPACK_DEBIAN_PACKAGE_DEPENDS "libc++1, libgomp1, libpng16-16, libglfw3")
 set(CPACK_PACKAGE_HOMEPAGE_URL "@PROJECT_HOMEPAGE_URL@")
 
diff --git a/cpp/open3d/core/CMakeLists.txt b/cpp/open3d/core/CMakeLists.txt
index d42e645da39..7926d3fbcc6 100644
--- a/cpp/open3d/core/CMakeLists.txt
+++ b/cpp/open3d/core/CMakeLists.txt
@@ -56,6 +56,7 @@ target_sources(core PRIVATE
     kernel/ReductionCPU.cpp
     kernel/UnaryEW.cpp
     kernel/UnaryEWCPU.cpp
+    kernel/UnaryEWSYCL.cpp
     linalg/AddMM.cpp
     linalg/AddMMCPU.cpp
     linalg/Det.cpp
diff --git a/cpp/open3d/core/Device.h b/cpp/open3d/core/Device.h
index 2df1366c5b9..5b04875ed20 100644
--- a/cpp/open3d/core/Device.h
+++ b/cpp/open3d/core/Device.h
@@ -99,6 +99,10 @@ class IsDevice {
     inline bool IsCUDA() const {
         return GetDevice().GetType() == Device::DeviceType::CUDA;
     }
+
+    inline bool IsSYCL() const {
+        return GetDevice().GetType() == Device::DeviceType::SYCL;
+    }
 };
 
 }  // namespace core
diff --git a/cpp/open3d/core/Tensor.cpp b/cpp/open3d/core/Tensor.cpp
index 7e1014bc800..8859be594e8 100644
--- a/cpp/open3d/core/Tensor.cpp
+++ b/cpp/open3d/core/Tensor.cpp
@@ -748,7 +748,7 @@ Tensor Tensor::Contiguous() const {
 std::string Tensor::ToString(bool with_suffix,
                              const std::string& indent) const {
     std::ostringstream rc;
-    if (IsCUDA() || !IsContiguous()) {
+    if (IsCUDA() || IsSYCL() || !IsContiguous()) {
         Tensor host_contiguous_tensor = Contiguous().To(Device("CPU:0"));
         rc << host_contiguous_tensor.ToString(false, indent);
     } else {
diff --git a/cpp/open3d/core/kernel/UnaryEW.cpp b/cpp/open3d/core/kernel/UnaryEW.cpp
index d2cb7c89f4d..87b99a268aa 100644
--- a/cpp/open3d/core/kernel/UnaryEW.cpp
+++ b/cpp/open3d/core/kernel/UnaryEW.cpp
@@ -50,20 +50,28 @@ void Copy(const Tensor& src, Tensor& dst) {
                           src.GetShape(), dst.GetShape());
     }
 
-    // Disbatch to device
+    // Dispatch to device
     Device src_device = src.GetDevice();
     Device dst_device = dst.GetDevice();
-    if ((!src_device.IsCPU() && !src_device.IsCUDA()) ||
-        (!dst_device.IsCPU() && !dst_device.IsCUDA())) {
+    if ((!src_device.IsCPU() && !src_device.IsCUDA() && !src_device.IsSYCL()) ||
+        (!dst_device.IsCPU() && !dst_device.IsCUDA() && !dst_device.IsSYCL())) {
         utility::LogError("Copy: Unimplemented device");
     }
     if (src_device.IsCPU() && dst_device.IsCPU()) {
         CopyCPU(src, dst);
-    } else {
+    } else if ((src_device.IsCPU() || src_device.IsCUDA()) &&
+               (dst_device.IsCPU() || dst_device.IsCUDA())) {
 #ifdef BUILD_CUDA_MODULE
         CopyCUDA(src, dst);
 #else
         utility::LogError("Not compiled with CUDA, but CUDA device is used.");
+#endif
+    } else if ((src_device.IsCPU() || src_device.IsSYCL()) &&
+               (dst_device.IsCPU() || dst_device.IsSYCL())) {
+#ifdef BUILD_SYCL_MODULE
+        CopySYCL(src, dst);
+#else
+        utility::LogError("Not compiled with SYCL, but SYCL device is used.");
 #endif
     }
 }
diff --git a/cpp/open3d/core/kernel/UnaryEW.h b/cpp/open3d/core/kernel/UnaryEW.h
index c28c30bcc51..985eba0232a 100644
--- a/cpp/open3d/core/kernel/UnaryEW.h
+++ b/cpp/open3d/core/kernel/UnaryEW.h
@@ -49,6 +49,10 @@ void CopyCPU(const Tensor& src, Tensor& dst);
 void CopyCUDA(const Tensor& src, Tensor& dst);
 #endif
 
+#ifdef BUILD_SYCL_MODULE
+void CopySYCL(const Tensor& src, Tensor& dst);
+#endif
+
 }  // namespace kernel
 }  // namespace core
 }  // namespace open3d
diff --git a/cpp/open3d/core/kernel/UnaryEWSYCL.cpp b/cpp/open3d/core/kernel/UnaryEWSYCL.cpp
new file mode 100644
index 00000000000..e32005c4b36
--- /dev/null
+++ b/cpp/open3d/core/kernel/UnaryEWSYCL.cpp
@@ -0,0 +1,53 @@
+// ----------------------------------------------------------------------------
+// -                        Open3D: www.open3d.org                            -
+// ----------------------------------------------------------------------------
+// Copyright (c) 2018-2023 www.open3d.org
+// SPDX-License-Identifier: MIT
+// ----------------------------------------------------------------------------
+
+#include <cmath>
+#include <cstring>
+
+#include "open3d/core/Dtype.h"
+#include "open3d/core/MemoryManager.h"
+#include "open3d/core/SizeVector.h"
+#include "open3d/core/Tensor.h"
+#include "open3d/core/kernel/UnaryEW.h"
+#include "open3d/utility/Logging.h"
+
+namespace open3d {
+namespace core {
+namespace kernel {
+
+void CopySYCL(const Tensor& src, Tensor& dst) {
+    // It has been checked that
+    // - at least one of src or dst is SYCL device
+    SizeVector shape = src.GetShape();
+    Dtype src_dtype = src.GetDtype();
+    Dtype dst_dtype = dst.GetDtype();
+    Device dst_device = dst.GetDevice();
+    Device src_device = src.GetDevice();
+
+    if (src_dtype != dst_dtype) {
+        utility::LogError(
+                "CopySYCL: Dtype conversion from src to dst not implemented!");
+    }
+    if ((dst_device.IsSYCL() && !dst.IsContiguous()) ||
+        (src_device.IsSYCL() && !src.IsContiguous())) {
+        utility::LogError(
+                "CopySYCL: NonContiguous SYCL tensor Copy not implemented!");
+    }
+    Tensor src_conti = src.Contiguous();  // No op if already contiguous
+    if (dst.IsContiguous() && src.GetShape() == dst.GetShape() &&
+        src_dtype == dst_dtype) {
+        MemoryManager::Memcpy(dst.GetDataPtr(), dst_device,
+                              src_conti.GetDataPtr(), src_conti.GetDevice(),
+                              src_dtype.ByteSize() * shape.NumElements());
+    } else {
+        dst.CopyFrom(src_conti.To(dst_device));
+    }
+}
+
+}  // namespace kernel
+}  // namespace core
+}  // namespace open3d
diff --git a/cpp/open3d/core/nns/NNSIndex.h b/cpp/open3d/core/nns/NNSIndex.h
index 0e71a6d3a40..8eb8160da5d 100644
--- a/cpp/open3d/core/nns/NNSIndex.h
+++ b/cpp/open3d/core/nns/NNSIndex.h
@@ -51,7 +51,7 @@ class NNSIndex {
     /// \param knn Number of nearest neighbor to search.
     /// \return Pair of Tensors: (indices, distances):
     /// - indices: Tensor of shape {n, knn}, with dtype Int32.
-    /// - distainces: Tensor of shape {n, knn}, same dtype with dataset_points.
+    /// - distances: Tensor of shape {n, knn}, same dtype with dataset_points.
     virtual std::pair<Tensor, Tensor> SearchKnn(const Tensor &query_points,
                                                 int knn) const = 0;
 
@@ -61,7 +61,7 @@ class NNSIndex {
     /// dtype with dataset_points.
     /// \param radii list of radius. Must be 1D, with shape {n, }.
     /// \return Tuple of Tensors: (indices, distances, num_neighbors):
-    /// - indicecs: Tensor of shape {total_num_neighbors,}, dtype Int32.
+    /// - indices: Tensor of shape {total_num_neighbors,}, dtype Int32.
     /// - distances: Tensor of shape {total_num_neighbors,}, same dtype with
     /// dataset_points.
     /// - num_neighbors: Tensor of shape {n,}, dtype Int32.
@@ -76,7 +76,7 @@ class NNSIndex {
     /// dtype with dataset_points.
     /// \param radius Radius.
     /// \return Tuple of Tensors, (indices, distances, num_neighbors):
-    /// - indicecs: Tensor of shape {total_num_neighbors,}, dtype Int32.
+    /// - indices: Tensor of shape {total_num_neighbors,}, dtype Int32.
     /// - distances: Tensor of shape {total_num_neighbors,}, same dtype with
     /// dataset_points.
     /// - num_neighbors: Tensor of shape {n}, dtype Int32.
diff --git a/cpp/open3d/core/nns/NanoFlannIndex.h b/cpp/open3d/core/nns/NanoFlannIndex.h
index 32f0b48cedd..e092099d46e 100644
--- a/cpp/open3d/core/nns/NanoFlannIndex.h
+++ b/cpp/open3d/core/nns/NanoFlannIndex.h
@@ -54,7 +54,7 @@ class NanoFlannIndex : public NNSIndex {
     /// \param knn Number of nearest neighbor to search.
     /// \return Pair of Tensors: (indices, distances):
     /// - indices: Tensor of shape {n, knn}, with dtype Int32.
-    /// - distainces: Tensor of shape {n, knn}, same dtype with dataset_points.
+    /// - distances: Tensor of shape {n, knn}, same dtype with dataset_points.
     std::pair<Tensor, Tensor> SearchKnn(const Tensor &query_points,
                                         int knn) const override;
 
@@ -64,7 +64,7 @@ class NanoFlannIndex : public NNSIndex {
     /// dtype with dataset_points.
     /// \param radii list of radius. Must be 1D, with shape {n, }.
     /// \return Tuple of Tensors: (indices, distances, counts):
-    /// - indicecs: Tensor of shape {total_num_neighbors,}, dtype Int32.
+    /// - indices: Tensor of shape {total_num_neighbors,}, dtype Int32.
     /// - distances: Tensor of shape {total_num_neighbors,}, same dtype with
     /// dataset_points.
     /// - counts: Tensor of shape {n,}, dtype Int64.
@@ -79,7 +79,7 @@ class NanoFlannIndex : public NNSIndex {
     /// dtype with dataset_points.
     /// \param radius Radius.
     /// \return Tuple of Tensors, (indices, distances, counts):
-    /// - indicecs: Tensor of shape {total_num_neighbors,}, dtype Int32.
+    /// - indices: Tensor of shape {total_num_neighbors,}, dtype Int32.
     /// - distances: Tensor of shape {total_num_neighbors,}, same dtype with
     /// dataset_points.
     /// - counts: Tensor of shape {n}, dtype Int64.
diff --git a/cpp/open3d/core/nns/NearestNeighborSearch.h b/cpp/open3d/core/nns/NearestNeighborSearch.h
index 32fa6b87785..7ce92811dd9 100644
--- a/cpp/open3d/core/nns/NearestNeighborSearch.h
+++ b/cpp/open3d/core/nns/NearestNeighborSearch.h
@@ -76,7 +76,7 @@ class NearestNeighborSearch {
     /// \param radius Radius.
     /// \param sort Sort the results by distance. Default is True.
     /// \return Tuple of Tensors, (indices, distances, num_neighbors):
-    /// - indicecs: Tensor of shape {total_number_of_neighbors,}, with dtype
+    /// - indices: Tensor of shape {total_number_of_neighbors,}, with dtype
     /// same as index_dtype_.
     /// - distances: Tensor of shape {total_number_of_neighbors,}, same dtype
     /// with query_points. The distances are squared L2 distances.
@@ -91,7 +91,7 @@ class NearestNeighborSearch {
     /// \param radii Radii of query points. Each query point has one radius.
     /// Must be 1D, with shape {n,}.
     /// \return Tuple of Tensors, (indices,distances, num_neighbors):
-    /// - indicecs: Tensor of shape {total_number_of_neighbors,}, with dtype
+    /// - indices: Tensor of shape {total_number_of_neighbors,}, with dtype
     /// same as index_dtype_.
     /// - distances: Tensor of shape {total_number_of_neighbors,}, same dtype
     /// with query_points. The distances are squared L2 distances.
@@ -108,7 +108,7 @@ class NearestNeighborSearch {
     /// \param max_knn Maximum number of neighbor to search per query.
     /// \return Tuple of Tensors, (indices, distances, counts):
     /// - indices: Tensor of shape {n, knn}, with dtype same as index_dtype_.
-    /// - distainces: Tensor of shape {n, knn}, with same dtype with
+    /// - distances: Tensor of shape {n, knn}, with same dtype with
     /// query_points. The distances are squared L2 distances.
     /// - counts: Counts of neighbour for each query points. [Tensor
     /// of shape {n}, with dtype same as index_dtype_].
diff --git a/cpp/open3d/geometry/KDTreeFlann.cpp b/cpp/open3d/geometry/KDTreeFlann.cpp
index d93175a8d43..c81814a724d 100644
--- a/cpp/open3d/geometry/KDTreeFlann.cpp
+++ b/cpp/open3d/geometry/KDTreeFlann.cpp
@@ -97,8 +97,7 @@ int KDTreeFlann::SearchKNN(const T &query,
     // This is optimized code for heavily repeated search.
     // Other flann::Index::knnSearch() implementations lose performance due to
     // memory allocation/deallocation.
-    if (data_.empty() || dataset_size_ <= 0 ||
-        size_t(query.rows()) != dimension_ || knn < 0) {
+    if (data_.size() == 0 || query.rows() != data_.rows() || knn < 0) {
         return -1;
     }
     indices.resize(knn);
@@ -121,8 +120,7 @@ int KDTreeFlann::SearchRadius(const T &query,
     // Since max_nn is not given, we let flann to do its own memory management.
     // Other flann::Index::radiusSearch() implementations lose performance due
     // to memory management and CPU caching.
-    if (data_.empty() || dataset_size_ <= 0 ||
-        size_t(query.rows()) != dimension_) {
+    if (data_.size() == 0 || query.rows() != data_.rows()) {
         return -1;
     }
     std::vector<nanoflann::ResultItem<Eigen::Index, double>> indices_dists;
@@ -148,8 +146,7 @@ int KDTreeFlann::SearchHybrid(const T &query,
     // It is also the recommended setting for search.
     // Other flann::Index::radiusSearch() implementations lose performance due
     // to memory allocation/deallocation.
-    if (data_.empty() || dataset_size_ <= 0 ||
-        size_t(query.rows()) != dimension_ || max_nn < 0) {
+    if (data_.size() == 0 || query.rows() != data_.rows() || max_nn < 0) {
         return -1;
     }
     distance2.resize(max_nn);
@@ -166,18 +163,12 @@ int KDTreeFlann::SearchHybrid(const T &query,
 }
 
 bool KDTreeFlann::SetRawData(const Eigen::Map<const Eigen::MatrixXd> &data) {
-    dimension_ = data.rows();
-    dataset_size_ = data.cols();
-    if (dimension_ == 0 || dataset_size_ == 0) {
+    if (data.size() == 0) {
         utility::LogWarning("[KDTreeFlann::SetRawData] Failed due to no data.");
         return false;
     }
-    data_.resize(dataset_size_ * dimension_);
-    memcpy(data_.data(), data.data(),
-           dataset_size_ * dimension_ * sizeof(double));
-    data_interface_.reset(new Eigen::Map<const Eigen::MatrixXd>(data));
-    nanoflann_index_.reset(
-            new KDTree_t(dimension_, std::cref(*data_interface_), 15));
+    data_ = data;
+    nanoflann_index_ = std::make_unique<KDTree_t>(data_.rows(), data_, 15);
     nanoflann_index_->index_->buildIndex();
     return true;
 }
diff --git a/cpp/open3d/geometry/KDTreeFlann.h b/cpp/open3d/geometry/KDTreeFlann.h
index 3d3ab2c5bea..cb41fccafb7 100644
--- a/cpp/open3d/geometry/KDTreeFlann.h
+++ b/cpp/open3d/geometry/KDTreeFlann.h
@@ -97,17 +97,13 @@ class KDTreeFlann {
     bool SetRawData(const Eigen::Map<const Eigen::MatrixXd> &data);
 
 protected:
-    using KDTree_t = nanoflann::KDTreeEigenMatrixAdaptor<
-            Eigen::Map<const Eigen::MatrixXd>,
-            -1,
-            nanoflann::metric_L2,
-            false>;
+    using KDTree_t = nanoflann::KDTreeEigenMatrixAdaptor<const Eigen::MatrixXd,
+                                                         -1,
+                                                         nanoflann::metric_L2,
+                                                         false>;
 
-    std::vector<double> data_;
-    std::unique_ptr<Eigen::Map<const Eigen::MatrixXd>> data_interface_;
+    Eigen::MatrixXd data_;
     std::unique_ptr<KDTree_t> nanoflann_index_;
-    size_t dimension_ = 0;
-    size_t dataset_size_ = 0;
 };
 
 }  // namespace geometry
diff --git a/cpp/open3d/geometry/LineSetFactory.cpp b/cpp/open3d/geometry/LineSetFactory.cpp
index 41e44d1db5f..3a66d86d300 100644
--- a/cpp/open3d/geometry/LineSetFactory.cpp
+++ b/cpp/open3d/geometry/LineSetFactory.cpp
@@ -170,6 +170,25 @@ std::shared_ptr<LineSet> LineSet::CreateCameraVisualization(
     lines->lines_.push_back({4, 1});
     lines->PaintUniformColor({0.0f, 0.0f, 1.0f});
 
+    // Add XYZ axes
+    lines->points_.push_back(
+            mult(m, Eigen::Vector3d{intrinsic(0, 0) * scale, 0.0, 0.0}));
+    lines->points_.push_back(
+            mult(m, Eigen::Vector3d{0.0, intrinsic(1, 1) * scale, 0.0}));
+    lines->points_.push_back(
+            mult(m, Eigen::Vector3d{intrinsic(0, 2) * scale,
+                                    intrinsic(1, 2) * scale, scale}));
+
+    // Add lines for the axes
+    lines->lines_.push_back({0, 5});  // X axis (red)
+    lines->lines_.push_back({0, 6});  // Y axis (green)
+    lines->lines_.push_back({0, 7});  // Z axis (blue)
+
+    // Set colors for the axes
+    lines->colors_.push_back({1.0f, 0.0f, 0.0f});  // Red
+    lines->colors_.push_back({0.0f, 1.0f, 0.0f});  // Green
+    lines->colors_.push_back({0.0f, 0.0f, 1.0f});  // Blue
+
     return lines;
 }
 
diff --git a/cpp/open3d/geometry/PointCloudPlanarPatchDetection.cpp b/cpp/open3d/geometry/PointCloudPlanarPatchDetection.cpp
index b096ffc5655..b76bc9f3fc4 100644
--- a/cpp/open3d/geometry/PointCloudPlanarPatchDetection.cpp
+++ b/cpp/open3d/geometry/PointCloudPlanarPatchDetection.cpp
@@ -8,6 +8,7 @@
 #include <Eigen/Dense>
 #include <algorithm>
 #include <cstdint>
+#include <limits>
 #include <numeric>
 #include <queue>
 #include <unordered_map>
@@ -27,6 +28,8 @@ namespace geometry {
 
 namespace {
 
+double tolerance = 1e-6;
+
 /// \brief Planar patch container
 struct PlanarPatch {
     double GetSignedDistanceToPoint(const Eigen::Vector3d& point) const {
@@ -55,12 +58,18 @@ class BoundaryVolumeHierarchy {
 
     /// \brief Constructor for the root node of the octree.
     ///
-    /// \param point_cloud is the associated set of points being partitioned
-    BoundaryVolumeHierarchy(const PointCloud* point_cloud,
-                            const Eigen::Vector3d& min_bound,
-                            const Eigen::Vector3d& max_bound,
-                            size_t min_points = 1,
-                            double min_size = 0.0)
+    /// \param point_cloud is the associated set of points being partitioned.
+    /// \param min_bound is the minimum coordinate of the bounding volume.
+    /// \param max_bound is the maximum coordinate of the bounding volume.
+    /// \param min_points is the threshold number of points in a node to stop
+    /// partitioning it further. \param min_size is the threshold size of a node
+    /// to stop partitioning it further.
+    BoundaryVolumeHierarchy(
+            const PointCloud* point_cloud,
+            const Eigen::Vector3d& min_bound,
+            const Eigen::Vector3d& max_bound,
+            size_t min_points = 1,
+            double min_size = std::numeric_limits<double>::epsilon())
         : point_cloud_(point_cloud),
           min_points_(min_points),
           min_size_(min_size),
@@ -400,9 +409,13 @@ class PlaneDetector {
                 (rect.bottom_left(1) + rect.top_right(1)) / 2. * rect.B.col(1);
 
         // Scale basis to fit points
-        const double width = (rect.top_right.x() - rect.bottom_left.x());
-        const double height = (rect.top_right.y() - rect.bottom_left.y());
-        const double depth = (rect.top_right.z() - rect.bottom_left.z());
+        const double _mini = std::min(tolerance, max_point_dist_);
+        const double width =
+                std::max(rect.top_right.x() - rect.bottom_left.x(), _mini);
+        const double height =
+                std::max(rect.top_right.y() - rect.bottom_left.y(), _mini);
+        const double depth =
+                std::max(rect.top_right.z() - rect.bottom_left.z(), _mini);
 
         std::shared_ptr<OrientedBoundingBox> obox =
                 std::make_shared<OrientedBoundingBox>();
@@ -590,6 +603,7 @@ class PlaneDetector {
         // Use lower bound of the spread around the median as an indication
         // of how similar the point normals associated with the patch are.
         GetMinMaxRScore(normal_similarities, min_normal_diff_, tmp, 3);
+        min_normal_diff_ = std::min(min_normal_diff_, 1.0 - tolerance);
         // Use upper bound of the spread around the median as an indication
         // of how close the points associated with the patch are to the patch.
         GetMinMaxRScore(point_distances, tmp, max_point_dist_, 3);
@@ -937,7 +951,6 @@ void ExtractPatchesFromPlanes(
             Eigen::Vector3d(0.4660, 0.6740, 0.1880),
             Eigen::Vector3d(0.3010, 0.7450, 0.9330),
             Eigen::Vector3d(0.6350, 0.0780, 0.1840)};
-
     for (size_t i = 0; i < planes.size(); i++) {
         if (!planes[i]->IsFalsePositive()) {
             // create a patch by delimiting the plane using its perimeter points
diff --git a/cpp/open3d/io/ImageIO.cpp b/cpp/open3d/io/ImageIO.cpp
index a4126df14e6..c00361a449a 100644
--- a/cpp/open3d/io/ImageIO.cpp
+++ b/cpp/open3d/io/ImageIO.cpp
@@ -7,24 +7,25 @@
 
 #include "open3d/io/ImageIO.h"
 
+#include <array>
+#include <fstream>
 #include <unordered_map>
 
 #include "open3d/utility/FileSystem.h"
 #include "open3d/utility/Logging.h"
 
 namespace open3d {
+namespace io {
 
 namespace {
-using namespace io;
 
-static const std::unordered_map<
-        std::string,
-        std::function<bool(const std::string &, geometry::Image &)>>
-        file_extension_to_image_read_function{
-                {"png", ReadImageFromPNG},
-                {"jpg", ReadImageFromJPG},
-                {"jpeg", ReadImageFromJPG},
-        };
+using signature_decoder_t =
+        std::pair<std::string,
+                  std::function<bool(const std::string &, geometry::Image &)>>;
+static const std::array<signature_decoder_t, 2> signature_decoder_list{
+        {{"\x89\x50\x4e\x47\xd\xa\x1a\xa", ReadImageFromPNG},
+         {"\xFF\xD8\xFF", ReadImageFromJPG}}};
+static constexpr uint8_t MAX_SIGNATURE_LEN = 8;
 
 static const std::unordered_map<
         std::string,
@@ -34,11 +35,8 @@ static const std::unordered_map<
                 {"jpg", WriteImageToJPG},
                 {"jpeg", WriteImageToJPG},
         };
-
 }  // unnamed namespace
 
-namespace io {
-
 std::shared_ptr<geometry::Image> CreateImageFromFile(
         const std::string &filename) {
     auto image = std::make_shared<geometry::Image>();
@@ -47,21 +45,27 @@ std::shared_ptr<geometry::Image> CreateImageFromFile(
 }
 
 bool ReadImage(const std::string &filename, geometry::Image &image) {
-    std::string filename_ext =
-            utility::filesystem::GetFileExtensionInLowerCase(filename);
-    if (filename_ext.empty()) {
-        utility::LogWarning(
-                "Read geometry::Image failed: missing file extension.");
-        return false;
-    }
-    auto map_itr = file_extension_to_image_read_function.find(filename_ext);
-    if (map_itr == file_extension_to_image_read_function.end()) {
-        utility::LogWarning(
-                "Read geometry::Image failed: file extension {} unknown",
-                filename_ext);
-        return false;
+    std::string signature_buffer(MAX_SIGNATURE_LEN, 0);
+    std::ifstream file(filename, std::ios::binary);
+    file.read(&signature_buffer[0], MAX_SIGNATURE_LEN);
+    std::string err_msg;
+    if (!file) {
+        err_msg = "Read geometry::Image failed for file {}. I/O error.";
+    } else {
+        file.close();
+        for (const auto &signature_decoder : signature_decoder_list) {
+            if (signature_buffer.compare(0, signature_decoder.first.size(),
+                                         signature_decoder.first) == 0) {
+                return signature_decoder.second(filename, image);
+            }
+        }
+        err_msg =
+                "Read geometry::Image failed for file {}. Unknown file "
+                "signature, only PNG and JPG are supported.";
     }
-    return map_itr->second(filename, image);
+    image.Clear();
+    utility::LogWarning(err_msg.c_str(), filename);
+    return false;
 }
 
 bool WriteImage(const std::string &filename,
diff --git a/cpp/open3d/io/ImageIO.h b/cpp/open3d/io/ImageIO.h
index 3c6b62be3d8..45b0a3f71ed 100644
--- a/cpp/open3d/io/ImageIO.h
+++ b/cpp/open3d/io/ImageIO.h
@@ -69,11 +69,18 @@ bool WriteImageToJPG(const std::string &filename,
                      const geometry::Image &image,
                      int quality = kOpen3DImageIODefaultQuality);
 
-/// The general entrance for reading an Image from memory
+/// Read a PNG image from memory.
+/// \param image_data_ptr the pointer to image data in memory.
+/// \param image_data_size the size of image data in memory.
+/// \return return true if the read function is successful, false otherwise.
 bool ReadPNGFromMemory(const unsigned char *image_data_ptr,
                        size_t image_data_size,
                        geometry::Image &image);
 
+/// Read a JPG image from memory.
+/// \param image_data_ptr the pointer to image data in memory.
+/// \param image_data_size the size of image data in memory.
+/// \return return true if the read function is successful, false otherwise.
 bool ReadJPGFromMemory(const unsigned char *image_data_ptr,
                        size_t image_data_size,
                        geometry::Image &image);
diff --git a/cpp/open3d/io/file_format/FileASSIMP.cpp b/cpp/open3d/io/file_format/FileASSIMP.cpp
index e78d8be7718..92a2fda8077 100644
--- a/cpp/open3d/io/file_format/FileASSIMP.cpp
+++ b/cpp/open3d/io/file_format/FileASSIMP.cpp
@@ -422,6 +422,9 @@ bool ReadModelUsingAssimp(const std::string& filename,
         mat->Get(AI_MATKEY_CLEARCOAT_ROUGHNESS_FACTOR,
                  o3d_mat.base_clearcoat_roughness);
         mat->Get(AI_MATKEY_ANISOTROPY, o3d_mat.base_anisotropy);
+        mat->Get(AI_MATKEY_COLOR_EMISSIVE, color);
+        o3d_mat.emissive_color =
+                Eigen::Vector4f(color.r, color.g, color.b, 1.f);
         aiString alpha_mode;
         mat->Get(AI_MATKEY_GLTF_ALPHAMODE, alpha_mode);
         std::string alpha_mode_str(alpha_mode.C_Str());
diff --git a/cpp/open3d/io/file_format/FileJPG.cpp b/cpp/open3d/io/file_format/FileJPG.cpp
index 7de155575bf..cb9cf6760e9 100644
--- a/cpp/open3d/io/file_format/FileJPG.cpp
+++ b/cpp/open3d/io/file_format/FileJPG.cpp
@@ -17,6 +17,23 @@
 
 namespace open3d {
 namespace io {
+namespace {
+
+/// Convert libjpeg error messages to std::runtime_error. This prevents
+/// libjpeg from exit() in case of errors.
+void jpeg_error_throw(j_common_ptr p_cinfo) {
+    if (p_cinfo->is_decompressor)
+        jpeg_destroy_decompress(
+                reinterpret_cast<jpeg_decompress_struct *>(p_cinfo));
+    else
+        jpeg_destroy_compress(
+                reinterpret_cast<jpeg_compress_struct *>(p_cinfo));
+    char buffer[JMSG_LENGTH_MAX];
+    (*p_cinfo->err->format_message)(p_cinfo, buffer);
+    throw std::runtime_error(buffer);
+}
+
+}  // namespace
 
 bool ReadImageFromJPG(const std::string &filename, geometry::Image &image) {
     struct jpeg_decompress_struct cinfo;
@@ -27,53 +44,64 @@ bool ReadImageFromJPG(const std::string &filename, geometry::Image &image) {
     if ((file_in = utility::filesystem::FOpen(filename, "rb")) == NULL) {
         utility::LogWarning("Read JPG failed: unable to open file: {}",
                             filename);
+        image.Clear();
         return false;
     }
 
-    cinfo.err = jpeg_std_error(&jerr);
-    jpeg_create_decompress(&cinfo);
-    jpeg_stdio_src(&cinfo, file_in);
-    jpeg_read_header(&cinfo, TRUE);
-
-    // We only support two channel types: gray, and RGB.
-    int num_of_channels = 3;
-    int bytes_per_channel = 1;
-    switch (cinfo.jpeg_color_space) {
-        case JCS_RGB:
-        case JCS_YCbCr:
-            cinfo.out_color_space = JCS_RGB;
-            cinfo.out_color_components = 3;
-            num_of_channels = 3;
-            break;
-        case JCS_GRAYSCALE:
-            cinfo.jpeg_color_space = JCS_GRAYSCALE;
-            cinfo.out_color_components = 1;
-            num_of_channels = 1;
-            break;
-        case JCS_CMYK:
-        case JCS_YCCK:
-        default:
-            utility::LogWarning("Read JPG failed: color space not supported.");
-            jpeg_destroy_decompress(&cinfo);
-            fclose(file_in);
-            return false;
-    }
-    jpeg_start_decompress(&cinfo);
-    image.Prepare(cinfo.output_width, cinfo.output_height, num_of_channels,
-                  bytes_per_channel);
-    int row_stride = cinfo.output_width * cinfo.output_components;
-    buffer = (*cinfo.mem->alloc_sarray)((j_common_ptr)&cinfo, JPOOL_IMAGE,
-                                        row_stride, 1);
-    uint8_t *pdata = image.data_.data();
-    while (cinfo.output_scanline < cinfo.output_height) {
-        jpeg_read_scanlines(&cinfo, buffer, 1);
-        memcpy(pdata, buffer[0], row_stride);
-        pdata += row_stride;
+    try {
+        cinfo.err = jpeg_std_error(&jerr);
+        jerr.error_exit = jpeg_error_throw;
+        jpeg_create_decompress(&cinfo);
+        jpeg_stdio_src(&cinfo, file_in);
+        jpeg_read_header(&cinfo, TRUE);
+
+        // We only support two channel types: gray, and RGB.
+        int num_of_channels = 3;
+        int bytes_per_channel = 1;
+        switch (cinfo.jpeg_color_space) {
+            case JCS_RGB:
+            case JCS_YCbCr:
+                cinfo.out_color_space = JCS_RGB;
+                cinfo.out_color_components = 3;
+                num_of_channels = 3;
+                break;
+            case JCS_GRAYSCALE:
+                cinfo.jpeg_color_space = JCS_GRAYSCALE;
+                cinfo.out_color_components = 1;
+                num_of_channels = 1;
+                break;
+            case JCS_CMYK:
+            case JCS_YCCK:
+            default:
+                utility::LogWarning(
+                        "Read JPG failed: color space not supported.");
+                jpeg_destroy_decompress(&cinfo);
+                fclose(file_in);
+                image.Clear();
+                return false;
+        }
+        jpeg_start_decompress(&cinfo);
+        image.Prepare(cinfo.output_width, cinfo.output_height, num_of_channels,
+                      bytes_per_channel);
+        int row_stride = cinfo.output_width * cinfo.output_components;
+        buffer = (*cinfo.mem->alloc_sarray)((j_common_ptr)&cinfo, JPOOL_IMAGE,
+                                            row_stride, 1);
+        uint8_t *pdata = image.data_.data();
+        while (cinfo.output_scanline < cinfo.output_height) {
+            jpeg_read_scanlines(&cinfo, buffer, 1);
+            memcpy(pdata, buffer[0], row_stride);
+            pdata += row_stride;
+        }
+        jpeg_finish_decompress(&cinfo);
+        jpeg_destroy_decompress(&cinfo);
+        fclose(file_in);
+        return true;
+    } catch (const std::runtime_error &err) {
+        fclose(file_in);
+        image.Clear();
+        utility::LogWarning("libjpeg error: {}", err.what());
+        return false;
     }
-    jpeg_finish_decompress(&cinfo);
-    jpeg_destroy_decompress(&cinfo);
-    fclose(file_in);
-    return true;
 }
 
 bool WriteImageToJPG(const std::string &filename,
@@ -108,30 +136,37 @@ bool WriteImageToJPG(const std::string &filename,
         return false;
     }
 
-    cinfo.err = jpeg_std_error(&jerr);
-    jpeg_create_compress(&cinfo);
-    jpeg_stdio_dest(&cinfo, file_out);
-    cinfo.image_width = image.width_;
-    cinfo.image_height = image.height_;
-    cinfo.input_components = image.num_of_channels_;
-    cinfo.in_color_space =
-            (cinfo.input_components == 1 ? JCS_GRAYSCALE : JCS_RGB);
-    jpeg_set_defaults(&cinfo);
-    jpeg_set_quality(&cinfo, quality, TRUE);
-    jpeg_start_compress(&cinfo, TRUE);
-    int row_stride = image.width_ * image.num_of_channels_;
-    const uint8_t *pdata = image.data_.data();
-    std::vector<uint8_t> buffer(row_stride);
-    while (cinfo.next_scanline < cinfo.image_height) {
-        memcpy(buffer.data(), pdata, row_stride);
-        row_pointer[0] = buffer.data();
-        jpeg_write_scanlines(&cinfo, row_pointer, 1);
-        pdata += row_stride;
+    try {
+        cinfo.err = jpeg_std_error(&jerr);
+        jerr.error_exit = jpeg_error_throw;
+        jpeg_create_compress(&cinfo);
+        jpeg_stdio_dest(&cinfo, file_out);
+        cinfo.image_width = image.width_;
+        cinfo.image_height = image.height_;
+        cinfo.input_components = image.num_of_channels_;
+        cinfo.in_color_space =
+                (cinfo.input_components == 1 ? JCS_GRAYSCALE : JCS_RGB);
+        jpeg_set_defaults(&cinfo);
+        jpeg_set_quality(&cinfo, quality, TRUE);
+        jpeg_start_compress(&cinfo, TRUE);
+        int row_stride = image.width_ * image.num_of_channels_;
+        const uint8_t *pdata = image.data_.data();
+        std::vector<uint8_t> buffer(row_stride);
+        while (cinfo.next_scanline < cinfo.image_height) {
+            memcpy(buffer.data(), pdata, row_stride);
+            row_pointer[0] = buffer.data();
+            jpeg_write_scanlines(&cinfo, row_pointer, 1);
+            pdata += row_stride;
+        }
+        jpeg_finish_compress(&cinfo);
+        fclose(file_out);
+        jpeg_destroy_compress(&cinfo);
+        return true;
+    } catch (const std::runtime_error &err) {
+        fclose(file_out);
+        utility::LogWarning(err.what());
+        return false;
     }
-    jpeg_finish_compress(&cinfo);
-    fclose(file_out);
-    jpeg_destroy_compress(&cinfo);
-    return true;
 }
 
 bool ReadJPGFromMemory(const unsigned char *image_data_ptr,
@@ -141,48 +176,57 @@ bool ReadJPGFromMemory(const unsigned char *image_data_ptr,
     struct jpeg_error_mgr jerr;
     JSAMPARRAY buffer;
 
-    cinfo.err = jpeg_std_error(&jerr);
-    jpeg_create_decompress(&cinfo);
-    jpeg_mem_src(&cinfo, image_data_ptr, image_data_size);
-    jpeg_read_header(&cinfo, TRUE);
-
-    // We only support two channel types: gray, and RGB.
-    int num_of_channels = 3;
-    int bytes_per_channel = 1;
-    switch (cinfo.jpeg_color_space) {
-        case JCS_RGB:
-        case JCS_YCbCr:
-            cinfo.out_color_space = JCS_RGB;
-            cinfo.out_color_components = 3;
-            num_of_channels = 3;
-            break;
-        case JCS_GRAYSCALE:
-            cinfo.jpeg_color_space = JCS_GRAYSCALE;
-            cinfo.out_color_components = 1;
-            num_of_channels = 1;
-            break;
-        case JCS_CMYK:
-        case JCS_YCCK:
-        default:
-            utility::LogWarning("Read JPG failed: color space not supported.");
-            jpeg_destroy_decompress(&cinfo);
-            return false;
-    }
-    jpeg_start_decompress(&cinfo);
-    image.Prepare(cinfo.output_width, cinfo.output_height, num_of_channels,
-                  bytes_per_channel);
-    int row_stride = cinfo.output_width * cinfo.output_components;
-    buffer = (*cinfo.mem->alloc_sarray)((j_common_ptr)&cinfo, JPOOL_IMAGE,
-                                        row_stride, 1);
-    uint8_t *pdata = image.data_.data();
-    while (cinfo.output_scanline < cinfo.output_height) {
-        jpeg_read_scanlines(&cinfo, buffer, 1);
-        memcpy(pdata, buffer[0], row_stride);
-        pdata += row_stride;
+    try {
+        cinfo.err = jpeg_std_error(&jerr);
+        jerr.error_exit = jpeg_error_throw;
+        jpeg_create_decompress(&cinfo);
+        jpeg_mem_src(&cinfo, image_data_ptr, image_data_size);
+        jpeg_read_header(&cinfo, TRUE);
+
+        // We only support two channel types: gray, and RGB.
+        int num_of_channels = 3;
+        int bytes_per_channel = 1;
+        switch (cinfo.jpeg_color_space) {
+            case JCS_RGB:
+            case JCS_YCbCr:
+                cinfo.out_color_space = JCS_RGB;
+                cinfo.out_color_components = 3;
+                num_of_channels = 3;
+                break;
+            case JCS_GRAYSCALE:
+                cinfo.jpeg_color_space = JCS_GRAYSCALE;
+                cinfo.out_color_components = 1;
+                num_of_channels = 1;
+                break;
+            case JCS_CMYK:
+            case JCS_YCCK:
+            default:
+                utility::LogWarning(
+                        "Read JPG failed: color space not supported.");
+                jpeg_destroy_decompress(&cinfo);
+                image.Clear();
+                return false;
+        }
+        jpeg_start_decompress(&cinfo);
+        image.Prepare(cinfo.output_width, cinfo.output_height, num_of_channels,
+                      bytes_per_channel);
+        int row_stride = cinfo.output_width * cinfo.output_components;
+        buffer = (*cinfo.mem->alloc_sarray)((j_common_ptr)&cinfo, JPOOL_IMAGE,
+                                            row_stride, 1);
+        uint8_t *pdata = image.data_.data();
+        while (cinfo.output_scanline < cinfo.output_height) {
+            jpeg_read_scanlines(&cinfo, buffer, 1);
+            memcpy(pdata, buffer[0], row_stride);
+            pdata += row_stride;
+        }
+        jpeg_finish_decompress(&cinfo);
+        jpeg_destroy_decompress(&cinfo);
+        return true;
+    } catch (const std::runtime_error &err) {
+        image.Clear();
+        utility::LogWarning(err.what());
+        return false;
     }
-    jpeg_finish_decompress(&cinfo);
-    jpeg_destroy_decompress(&cinfo);
-    return true;
 }
 
 }  // namespace io
diff --git a/cpp/open3d/io/file_format/FilePNG.cpp b/cpp/open3d/io/file_format/FilePNG.cpp
index 70832d8ee1e..55a7e410eda 100644
--- a/cpp/open3d/io/file_format/FilePNG.cpp
+++ b/cpp/open3d/io/file_format/FilePNG.cpp
@@ -106,6 +106,7 @@ bool ReadPNGFromMemory(const unsigned char *image_data_ptr,
     if (png_image_begin_read_from_memory(&pngimage, image_data_ptr,
                                          image_data_size) == 0) {
         utility::LogWarning("Read PNG failed: unable to parse header.");
+        image.Clear();
         return false;
     }
 
@@ -122,6 +123,7 @@ bool ReadPNGFromMemory(const unsigned char *image_data_ptr,
     if (png_image_finish_read(&pngimage, NULL, image.data_.data(), 0, NULL) ==
         0) {
         utility::LogWarning("PNG error: {}", pngimage.message);
+        image.Clear();
         return false;
     }
     return true;
diff --git a/cpp/open3d/pipelines/registration/Registration.cpp b/cpp/open3d/pipelines/registration/Registration.cpp
index 8527d620bf0..6820d2f7c33 100644
--- a/cpp/open3d/pipelines/registration/Registration.cpp
+++ b/cpp/open3d/pipelines/registration/Registration.cpp
@@ -235,13 +235,15 @@ RegistrationResult RegistrationRANSACBasedOnCorrespondence(
                                     max_correspondence_distance,
                                     transformation);
 
-                    // Update exit condition if necessary.
-                    // If confidence is 1.0, then it is safely inf, we always
-                    // consume all the iterations.
+                    // Update exit condition if necessary
                     double est_k_local_d =
                             std::log(1.0 - criteria.confidence_) /
                             std::log(1.0 -
                                      std::pow(corres_inlier_ratio, ransac_n));
+                    // This prevents having a negative number of iterations:
+                    // est_k_local_d = -inf if corres_inlier_ratio = 0.0
+                    est_k_local_d =
+                            est_k_local_d < 0 ? est_k_local : est_k_local_d;
                     est_k_local =
                             est_k_local_d < est_k_global
                                     ? static_cast<int>(std::ceil(est_k_local_d))
diff --git a/cpp/open3d/t/geometry/LineSet.cpp b/cpp/open3d/t/geometry/LineSet.cpp
index c2d95f0ced2..f525694ca45 100644
--- a/cpp/open3d/t/geometry/LineSet.cpp
+++ b/cpp/open3d/t/geometry/LineSet.cpp
@@ -9,6 +9,7 @@
 
 #include <string>
 
+#include "open3d/core/Dtype.h"
 #include "open3d/core/EigenConverter.h"
 #include "open3d/core/ShapeUtil.h"
 #include "open3d/core/Tensor.h"
@@ -211,6 +212,81 @@ OrientedBoundingBox LineSet::GetOrientedBoundingBox() const {
     return OrientedBoundingBox::CreateFromPoints(GetPointPositions());
 }
 
+LineSet &LineSet::PaintUniformColor(const core::Tensor &color) {
+    core::AssertTensorShape(color, {3});
+    core::Tensor clipped_color = color.To(GetDevice());
+    if (color.GetDtype() == core::Float32 ||
+        color.GetDtype() == core::Float64) {
+        clipped_color = clipped_color.Clip(0.0f, 1.0f);
+    }
+    core::Tensor ls_colors =
+            core::Tensor::Empty({GetLineIndices().GetLength(), 3},
+                                clipped_color.GetDtype(), GetDevice());
+    ls_colors.AsRvalue() = clipped_color;
+    SetLineColors(ls_colors);
+
+    return *this;
+}
+
+LineSet LineSet::CreateCameraVisualization(int view_width_px,
+                                           int view_height_px,
+                                           const core::Tensor &intrinsic_in,
+                                           const core::Tensor &extrinsic_in,
+                                           double scale,
+                                           const core::Tensor &color) {
+    core::AssertTensorShape(intrinsic_in, {3, 3});
+    core::AssertTensorShape(extrinsic_in, {4, 4});
+    core::Tensor intrinsic = intrinsic_in.To(core::Float32, "CPU:0");
+    core::Tensor extrinsic = extrinsic_in.To(core::Float32, "CPU:0");
+
+    // Calculate points for camera visualization
+    float w(view_width_px), h(view_height_px), s(scale);
+    float fx = intrinsic[0][0].Item<float>(),
+          fy = intrinsic[1][1].Item<float>(),
+          cx = intrinsic[0][2].Item<float>(),
+          cy = intrinsic[1][2].Item<float>();
+    core::Tensor points = core::Tensor::Init<float>({{0.f, 0.f, 0.f},  // origin
+                                                     {0.f, 0.f, s},
+                                                     {w * s, 0.f, s},
+                                                     {w * s, h * s, s},
+                                                     {0.f, h * s, s},
+                                                     // Add XYZ axes
+                                                     {fx * s, 0.f, 0.f},
+                                                     {0.f, fy * s, 0.f},
+                                                     {cx * s, cy * s, s}});
+    points = (intrinsic.Inverse().Matmul(points.T()) -
+              extrinsic.Slice(0, 0, 3).Slice(1, 3, 4))
+                     .T()
+                     .Matmul(extrinsic.Slice(0, 0, 3).Slice(1, 0, 3));
+
+    // Add lines for camera frame and XYZ axes
+    core::Tensor lines = core::Tensor::Init<int>({{0, 1},
+                                                  {0, 2},
+                                                  {0, 3},
+                                                  {0, 4},
+                                                  {1, 2},
+                                                  {2, 3},
+                                                  {3, 4},
+                                                  {4, 1},
+                                                  // Add XYZ axes
+                                                  {0, 5},
+                                                  {0, 6},
+                                                  {0, 7}});
+
+    LineSet lineset(points, lines);
+    if (color.NumElements() == 3) {
+        lineset.PaintUniformColor(color);
+    } else {
+        lineset.PaintUniformColor(core::Tensor::Init<float>({0.f, 0.f, 1.f}));
+    }
+    auto &lscolors = lineset.GetLineColors();
+    lscolors[8] = core::Tensor::Init<float>({1.f, 0.f, 0.f});   // Red
+    lscolors[9] = core::Tensor::Init<float>({0.f, 1.f, 0.f});   // Green
+    lscolors[10] = core::Tensor::Init<float>({0.f, 0.f, 1.f});  // Blue
+
+    return lineset;
+}
+
 }  // namespace geometry
 }  // namespace t
 }  // namespace open3d
diff --git a/cpp/open3d/t/geometry/LineSet.h b/cpp/open3d/t/geometry/LineSet.h
index 6c3ecb66da8..38fb7c61be2 100644
--- a/cpp/open3d/t/geometry/LineSet.h
+++ b/cpp/open3d/t/geometry/LineSet.h
@@ -337,6 +337,12 @@ class LineSet : public Geometry, public DrawableGeometry {
     /// \return Rotated line set.
     LineSet &Rotate(const core::Tensor &R, const core::Tensor &center);
 
+    /// \brief Assigns uniform color to all lines of the LineSet.
+    ///
+    /// \param color RGB color for the LineSet. {3,} shaped Tensor.
+    /// Floating color values are clipped between 0.0 and 1.0.
+    LineSet &PaintUniformColor(const core::Tensor &color);
+
     /// \brief Returns the device attribute of this LineSet.
     core::Device GetDevice() const override { return device_; }
 
@@ -385,6 +391,22 @@ class LineSet : public Geometry, public DrawableGeometry {
                                double scale = 1.0,
                                bool capping = true) const;
 
+    /// Factory function to create a LineSet from intrinsic and extrinsic
+    /// matrices.
+    ///
+    /// \param view_width_px The width of the view, in pixels.
+    /// \param view_height_px The height of the view, in pixels.
+    /// \param intrinsic The intrinsic matrix {3,3} shape.
+    /// \param extrinsic The extrinsic matrix {4,4} shape.
+    /// \param scale camera scale
+    /// \param color tensor with float32 dtype and shape {3}. Default is blue.
+    static LineSet CreateCameraVisualization(int view_width_px,
+                                             int view_height_px,
+                                             const core::Tensor &intrinsic,
+                                             const core::Tensor &extrinsic,
+                                             double scale,
+                                             const core::Tensor &color = {});
+
 protected:
     core::Device device_ = core::Device("CPU:0");
     TensorMap point_attr_;
diff --git a/cpp/open3d/t/geometry/RaycastingScene.cpp b/cpp/open3d/t/geometry/RaycastingScene.cpp
index af7dd3f1480..14f9962c26c 100644
--- a/cpp/open3d/t/geometry/RaycastingScene.cpp
+++ b/cpp/open3d/t/geometry/RaycastingScene.cpp
@@ -12,7 +12,7 @@
 #include "open3d/t/geometry/RaycastingScene.h"
 
 // This header is in the embree src dir (embree/src/ext_embree/..).
-#include <embree3/rtcore.h>
+#include <embree4/rtcore.h>
 #include <tbb/parallel_for.h>
 
 #include <Eigen/Core>
@@ -61,7 +61,7 @@ void AssertTensorDtypeLastDimDeviceMinNDim(const open3d::core::Tensor& tensor,
 }
 
 struct CountIntersectionsContext {
-    RTCIntersectContext context;
+    RTCRayQueryContext context;
     std::vector<std::tuple<uint32_t, uint32_t, float>>*
             previous_geom_prim_ID_tfar;
     int* intersections;
@@ -111,7 +111,7 @@ void CountIntersectionsFunc(const RTCFilterFunctionNArguments* args) {
 }
 
 struct ListIntersectionsContext {
-    RTCIntersectContext context;
+    RTCRayQueryContext context;
     std::vector<std::tuple<uint32_t, uint32_t, float>>*
             previous_geom_prim_ID_tfar;
     unsigned int* ray_ids;
@@ -360,9 +360,6 @@ struct RaycastingScene::Impl {
                   const int nthreads) {
         CommitScene();
 
-        struct RTCIntersectContext context;
-        rtcInitIntersectContext(&context);
-
         auto LoopFn = [&](const tbb::blocked_range<size_t>& range) {
             std::vector<RTCRayHit> rayhits(range.size());
 
@@ -387,15 +384,14 @@ struct RaycastingScene::Impl {
                 } else {
                     rh.ray.tfar = std::numeric_limits<float>::infinity();
                 }
-                rh.ray.mask = 0;
+                rh.ray.mask = -1;
                 rh.ray.id = i - range.begin();
                 rh.ray.flags = 0;
                 rh.hit.geomID = RTC_INVALID_GEOMETRY_ID;
                 rh.hit.instID[0] = RTC_INVALID_GEOMETRY_ID;
-            }
 
-            rtcIntersect1M(scene_, &context, &rayhits[0], range.size(),
-                           sizeof(RTCRayHit));
+                rtcIntersect1(scene_, &rh);
+            }
 
             for (size_t i = range.begin(); i < range.end(); ++i) {
                 RTCRayHit rh = rayhits[i - range.begin()];
@@ -446,8 +442,12 @@ struct RaycastingScene::Impl {
                         const int nthreads) {
         CommitScene();
 
-        struct RTCIntersectContext context;
-        rtcInitIntersectContext(&context);
+        struct RTCRayQueryContext context;
+        rtcInitRayQueryContext(&context);
+
+        RTCOccludedArguments args;
+        rtcInitOccludedArguments(&args);
+        args.context = &context;
 
         auto LoopFn = [&](const tbb::blocked_range<size_t>& range) {
             std::vector<RTCRay> rayvec(range.size());
@@ -462,13 +462,12 @@ struct RaycastingScene::Impl {
                 ray.dir_z = r[5];
                 ray.tnear = tnear;
                 ray.tfar = tfar;
-                ray.mask = 0;
+                ray.mask = -1;
                 ray.id = i - range.begin();
                 ray.flags = 0;
-            }
 
-            rtcOccluded1M(scene_, &context, &rayvec[0], range.size(),
-                          sizeof(RTCRay));
+                rtcOccluded1(scene_, &ray, &args);
+            }
 
             for (size_t i = range.begin(); i < range.end(); ++i) {
                 RTCRay ray = rayvec[i - range.begin()];
@@ -508,11 +507,15 @@ struct RaycastingScene::Impl {
                                         0.f));
 
         CountIntersectionsContext context;
-        rtcInitIntersectContext(&context.context);
-        context.context.filter = CountIntersectionsFunc;
+        rtcInitRayQueryContext(&context.context);
         context.previous_geom_prim_ID_tfar = &previous_geom_prim_ID_tfar;
         context.intersections = intersections;
 
+        RTCIntersectArguments args;
+        rtcInitIntersectArguments(&args);
+        args.filter = CountIntersectionsFunc;
+        args.context = &context.context;
+
         auto LoopFn = [&](const tbb::blocked_range<size_t>& range) {
             std::vector<RTCRayHit> rayhits(range.size());
 
@@ -527,14 +530,14 @@ struct RaycastingScene::Impl {
                 rh->ray.dir_z = r[5];
                 rh->ray.tnear = 0;
                 rh->ray.tfar = std::numeric_limits<float>::infinity();
-                rh->ray.mask = 0;
+                rh->ray.mask = -1;
                 rh->ray.flags = 0;
                 rh->ray.id = i;
                 rh->hit.geomID = RTC_INVALID_GEOMETRY_ID;
                 rh->hit.instID[0] = RTC_INVALID_GEOMETRY_ID;
+
+                rtcIntersect1(scene_, rh, &args);
             }
-            rtcIntersect1M(scene_, &context.context, &rayhits[0], range.size(),
-                           sizeof(RTCRayHit));
         };
 
         if (nthreads > 0) {
@@ -579,8 +582,7 @@ struct RaycastingScene::Impl {
                                         0.f));
 
         ListIntersectionsContext context;
-        rtcInitIntersectContext(&context.context);
-        context.context.filter = ListIntersectionsFunc;
+        rtcInitRayQueryContext(&context.context);
         context.previous_geom_prim_ID_tfar = &previous_geom_prim_ID_tfar;
         context.ray_ids = ray_ids;
         context.geometry_ids = geometry_ids;
@@ -590,6 +592,11 @@ struct RaycastingScene::Impl {
         context.cumsum = cumsum;
         context.track_intersections = track_intersections;
 
+        RTCIntersectArguments args;
+        rtcInitIntersectArguments(&args);
+        args.filter = ListIntersectionsFunc;
+        args.context = &context.context;
+
         auto LoopFn = [&](const tbb::blocked_range<size_t>& range) {
             std::vector<RTCRayHit> rayhits(range.size());
 
@@ -604,14 +611,14 @@ struct RaycastingScene::Impl {
                 rh->ray.dir_z = r[5];
                 rh->ray.tnear = 0;
                 rh->ray.tfar = std::numeric_limits<float>::infinity();
-                rh->ray.mask = 0;
+                rh->ray.mask = -1;
                 rh->ray.flags = 0;
                 rh->ray.id = i;
                 rh->hit.geomID = RTC_INVALID_GEOMETRY_ID;
                 rh->hit.instID[0] = RTC_INVALID_GEOMETRY_ID;
+
+                rtcIntersect1(scene_, rh, &args);
             }
-            rtcIntersect1M(scene_, &context.context, &rayhits[0], range.size(),
-                           sizeof(RTCRayHit));
         };
 
         if (nthreads > 0) {
@@ -695,9 +702,9 @@ RaycastingScene::RaycastingScene(int64_t nthreads)
 
     impl_->scene_ = rtcNewScene(impl_->device_);
     // set flag for better accuracy
-    rtcSetSceneFlags(
-            impl_->scene_,
-            RTC_SCENE_FLAG_ROBUST | RTC_SCENE_FLAG_CONTEXT_FILTER_FUNCTION);
+    rtcSetSceneFlags(impl_->scene_,
+                     RTC_SCENE_FLAG_ROBUST |
+                             RTC_SCENE_FLAG_FILTER_FUNCTION_IN_ARGUMENTS);
 
     impl_->devprop_join_commit = rtcGetDeviceProperty(
             impl_->device_, RTC_DEVICE_PROPERTY_JOIN_COMMIT_SUPPORTED);
@@ -746,6 +753,7 @@ uint32_t RaycastingScene::AddTriangles(const core::Tensor& vertex_positions,
         memcpy(index_buffer, data.GetDataPtr(),
                sizeof(uint32_t) * 3 * num_triangles);
     }
+    rtcSetGeometryEnableFilterFunctionFromArguments(geom, true);
     rtcCommitGeometry(geom);
 
     uint32_t geom_id = rtcAttachGeometry(impl_->scene_, geom);
diff --git a/cpp/open3d/t/geometry/TriangleMesh.cpp b/cpp/open3d/t/geometry/TriangleMesh.cpp
index be5442b6428..43899aaf58f 100644
--- a/cpp/open3d/t/geometry/TriangleMesh.cpp
+++ b/cpp/open3d/t/geometry/TriangleMesh.cpp
@@ -377,6 +377,7 @@ geometry::TriangleMesh TriangleMesh::FromLegacy(
         tmat.SetAnisotropy(mat.baseAnisotropy);
         tmat.SetBaseClearcoat(mat.baseClearCoat);
         tmat.SetBaseClearcoatRoughness(mat.baseClearCoatRoughness);
+        // no emissive_color in legacy mesh material
         if (mat.albedo) tmat.SetAlbedoMap(Image::FromLegacy(*mat.albedo));
         if (mat.normalMap) tmat.SetNormalMap(Image::FromLegacy(*mat.normalMap));
         if (mat.roughness)
@@ -453,10 +454,6 @@ open3d::geometry::TriangleMesh TriangleMesh::ToLegacy() const {
             legacy_mat.baseColor.f4[1] = tmat.GetBaseColor().y();
             legacy_mat.baseColor.f4[2] = tmat.GetBaseColor().z();
             legacy_mat.baseColor.f4[3] = tmat.GetBaseColor().w();
-            utility::LogWarning("{},{},{},{}", legacy_mat.baseColor.f4[0],
-                                legacy_mat.baseColor.f4[1],
-                                legacy_mat.baseColor.f4[2],
-                                legacy_mat.baseColor.f4[3]);
         }
         if (tmat.HasBaseRoughness()) {
             legacy_mat.baseRoughness = tmat.GetBaseRoughness();
@@ -523,6 +520,26 @@ open3d::geometry::TriangleMesh TriangleMesh::ToLegacy() const {
     return mesh_legacy;
 }
 
+std::unordered_map<std::string, geometry::TriangleMesh>
+TriangleMesh::FromTriangleMeshModel(
+        const open3d::visualization::rendering::TriangleMeshModel &model,
+        core::Dtype float_dtype,
+        core::Dtype int_dtype,
+        const core::Device &device) {
+    std::unordered_map<std::string, TriangleMesh> tmeshes;
+    for (const auto &mobj : model.meshes_) {
+        auto tmesh = TriangleMesh::FromLegacy(*mobj.mesh, float_dtype,
+                                              int_dtype, device);
+        // material textures will be on the CPU. GPU resident texture images is
+        // not yet supported. See comment in Material.cpp
+        tmesh.SetMaterial(
+                visualization::rendering::Material::FromMaterialRecord(
+                        model.materials_[mobj.material_idx]));
+        tmeshes.emplace(mobj.mesh_name, tmesh);
+    }
+    return tmeshes;
+}
+
 TriangleMesh TriangleMesh::To(const core::Device &device, bool copy) const {
     if (!copy && GetDevice() == device) {
         return *this;
@@ -1254,6 +1271,61 @@ TriangleMesh TriangleMesh::SelectByIndex(const core::Tensor &indices) const {
     return result;
 }
 
+TriangleMesh TriangleMesh::RemoveUnreferencedVertices() {
+    if (!HasVertexPositions() || GetVertexPositions().GetLength() == 0) {
+        utility::LogWarning(
+                "[RemoveUnreferencedVertices] TriangleMesh has no vertices.");
+        return *this;
+    }
+    GetVertexAttr().AssertSizeSynchronized();
+
+    core::Dtype tri_dtype = HasTriangleIndices()
+                                    ? GetTriangleIndices().GetDtype()
+                                    : core::Int64;
+
+    int64_t num_verts_old = GetVertexPositions().GetLength();
+    // int mask for vertices as we need to remap indices.
+    core::Tensor vertex_mask = core::Tensor::Zeros({num_verts_old}, tri_dtype);
+
+    if (!HasTriangleIndices() || GetTriangleIndices().GetLength() == 0) {
+        utility::LogWarning(
+                "[RemoveUnreferencedVertices] TriangleMesh has no triangles. "
+                "Removing all vertices.");
+        // in this case we need to empty vertices and their attributes
+    } else {
+        GetTriangleAttr().AssertSizeSynchronized();
+        core::Tensor tris_cpu =
+                GetTriangleIndices().To(core::Device()).Contiguous();
+        DISPATCH_INT_DTYPE_PREFIX_TO_TEMPLATE(tri_dtype, tris, [&]() {
+            scalar_tris_t *tris_ptr = tris_cpu.GetDataPtr<scalar_tris_t>();
+            scalar_tris_t *vertex_mask_ptr =
+                    vertex_mask.GetDataPtr<scalar_tris_t>();
+            for (int i = 0; i < tris_cpu.GetLength(); i++) {
+                vertex_mask_ptr[tris_ptr[3 * i]] = 1;
+                vertex_mask_ptr[tris_ptr[3 * i + 1]] = 1;
+                vertex_mask_ptr[tris_ptr[3 * i + 2]] = 1;
+            }
+
+            UpdateTriangleIndicesByVertexMask<scalar_tris_t>(tris_cpu,
+                                                             vertex_mask);
+        });
+        SetTriangleIndices(tris_cpu.To(GetDevice()));
+    }
+
+    // send the vertex mask to original device and apply to
+    // vertices
+    vertex_mask = vertex_mask.To(GetDevice(), core::Bool);
+    for (auto item : GetVertexAttr()) {
+        SetVertexAttr(item.first, item.second.IndexGet({vertex_mask}));
+    }
+
+    utility::LogDebug(
+            "[RemoveUnreferencedVertices] {:d} vertices have been removed.",
+            (int)(num_verts_old - GetVertexPositions().GetLength()));
+
+    return *this;
+}
+
 }  // namespace geometry
 }  // namespace t
 }  // namespace open3d
diff --git a/cpp/open3d/t/geometry/TriangleMesh.h b/cpp/open3d/t/geometry/TriangleMesh.h
index 7824f193b1c..fc592b0a9f9 100644
--- a/cpp/open3d/t/geometry/TriangleMesh.h
+++ b/cpp/open3d/t/geometry/TriangleMesh.h
@@ -8,6 +8,7 @@
 #pragma once
 
 #include <list>
+#include <unordered_map>
 
 #include "open3d/core/Tensor.h"
 #include "open3d/core/TensorCheck.h"
@@ -16,6 +17,7 @@
 #include "open3d/t/geometry/DrawableGeometry.h"
 #include "open3d/t/geometry/Geometry.h"
 #include "open3d/t/geometry/TensorMap.h"
+#include "open3d/visualization/rendering/Model.h"
 
 namespace open3d {
 namespace t {
@@ -701,7 +703,8 @@ class TriangleMesh : public Geometry, public DrawableGeometry {
     /// values, e.g. vertices, normals, colors.
     /// \param int_dtype Int32 or Int64, used to store index values, e.g.
     /// triangles.
-    /// \param device The device where the resulting TriangleMesh resides in.
+    /// \param device The device where the resulting TriangleMesh resides in
+    /// (default CPU:0).
     static geometry::TriangleMesh FromLegacy(
             const open3d::geometry::TriangleMesh &mesh_legacy,
             core::Dtype float_dtype = core::Float32,
@@ -711,6 +714,28 @@ class TriangleMesh : public Geometry, public DrawableGeometry {
     /// Convert to a legacy Open3D TriangleMesh.
     open3d::geometry::TriangleMesh ToLegacy() const;
 
+    /// Convert a TriangleMeshModel (e.g. as read from a file with
+    /// open3d::io::ReadTriangleMeshModel) to an unordered map of mesh names to
+    /// TriangleMeshes. Only one material is supported per mesh. Materials
+    /// common to multiple meshes will be dupicated. Textures (as
+    /// t::geometry::Image) will use shared storage.
+    /// \param model TriangleMeshModel to convert.
+    /// \param float_dtype Float32 or Float64, used to store floating point
+    /// values, e.g. vertices, normals, colors.
+    /// \param int_dtype Int32 or Int64, used to store index values, e.g.
+    /// triangles.
+    /// \param device The device where the resulting TriangleMesh resides in
+    /// (default CPU:0). Material textures use CPU storage - GPU resident
+    /// texture images are not yet supported.
+    /// \return unordered map of constituent mesh names to TriangleMeshes, with
+    /// materials.
+    static std::unordered_map<std::string, geometry::TriangleMesh>
+    FromTriangleMeshModel(
+            const open3d::visualization::rendering::TriangleMeshModel &model,
+            core::Dtype float_dtype = core::Float32,
+            core::Dtype int_dtype = core::Int64,
+            const core::Device &device = core::Device("CPU:0"));
+
     /// Compute the convex hull of the triangle mesh using qhull.
     ///
     /// This runs on the CPU.
@@ -945,6 +970,10 @@ class TriangleMesh : public Geometry, public DrawableGeometry {
     /// an empty mesh.
     TriangleMesh SelectByIndex(const core::Tensor &indices) const;
 
+    /// Removes unreferenced vertices from the mesh.
+    /// \return The reference to itself.
+    TriangleMesh RemoveUnreferencedVertices();
+
 protected:
     core::Device device_ = core::Device("CPU:0");
     TensorMap vertex_attr_;
diff --git a/cpp/open3d/t/io/ImageIO.cpp b/cpp/open3d/t/io/ImageIO.cpp
index df1ca3625ce..d172ad16cb7 100644
--- a/cpp/open3d/t/io/ImageIO.cpp
+++ b/cpp/open3d/t/io/ImageIO.cpp
@@ -8,7 +8,9 @@
 #include "open3d/t/io/ImageIO.h"
 
 #include <algorithm>
+#include <array>
 #include <cmath>
+#include <fstream>
 #include <unordered_map>
 #include <vector>
 
@@ -23,14 +25,14 @@ namespace open3d {
 namespace t {
 namespace io {
 
-static const std::unordered_map<
-        std::string,
-        std::function<bool(const std::string &, geometry::Image &)>>
-        file_extension_to_image_read_function{
-                {"png", ReadImageFromPNG},
-                {"jpg", ReadImageFromJPG},
-                {"jpeg", ReadImageFromJPG},
-        };
+namespace {
+using signature_decoder_t =
+        std::pair<std::string,
+                  std::function<bool(const std::string &, geometry::Image &)>>;
+static const std::array<signature_decoder_t, 2> signature_decoder_list{
+        {{"\x89\x50\x4e\x47\xd\xa\x1a\xa", ReadImageFromPNG},
+         {"\xFF\xD8\xFF", ReadImageFromJPG}}};
+static constexpr uint8_t MAX_SIGNATURE_LEN = 8;
 
 static const std::unordered_map<
         std::string,
@@ -40,6 +42,7 @@ static const std::unordered_map<
                 {"jpg", WriteImageToJPG},
                 {"jpeg", WriteImageToJPG},
         };
+}  // namespace
 
 std::shared_ptr<geometry::Image> CreateImageFromFile(
         const std::string &filename) {
@@ -49,21 +52,27 @@ std::shared_ptr<geometry::Image> CreateImageFromFile(
 }
 
 bool ReadImage(const std::string &filename, geometry::Image &image) {
-    std::string filename_ext =
-            utility::filesystem::GetFileExtensionInLowerCase(filename);
-    if (filename_ext.empty()) {
-        utility::LogWarning(
-                "Read geometry::Image failed: missing file extension.");
-        return false;
-    }
-    auto map_itr = file_extension_to_image_read_function.find(filename_ext);
-    if (map_itr == file_extension_to_image_read_function.end()) {
-        utility::LogWarning(
-                "Read geometry::Image failed: file extension {} unknown",
-                filename_ext);
-        return false;
+    std::string signature_buffer(MAX_SIGNATURE_LEN, 0);
+    std::ifstream file(filename, std::ios::binary);
+    file.read(&signature_buffer[0], MAX_SIGNATURE_LEN);
+    std::string err_msg;
+    if (!file) {
+        err_msg = "Read geometry::Image failed for file {}. I/O error.";
+    } else {
+        file.close();
+        for (const auto &signature_decoder : signature_decoder_list) {
+            if (signature_buffer.compare(0, signature_decoder.first.size(),
+                                         signature_decoder.first) == 0) {
+                return signature_decoder.second(filename, image);
+            }
+        }
+        err_msg =
+                "Read geometry::Image failed for file {}. Unknown file "
+                "signature, only PNG and JPG are supported.";
     }
-    return map_itr->second(filename, image);
+    image.Clear();
+    utility::LogWarning(err_msg.c_str(), filename);
+    return false;
 }
 
 bool WriteImage(const std::string &filename,
@@ -99,7 +108,8 @@ DepthNoiseSimulator::DepthNoiseSimulator(const std::string &noise_model_path) {
     for (int i = 0; i < skip_first_n_lines; ++i) {
         if (!(line_buffer = file.ReadLine())) {
             utility::LogError(
-                    "Read depth model failed: file {} is less than {} lines.",
+                    "Read depth model failed: file {} is less than {} "
+                    "lines.",
                     noise_model_path, skip_first_n_lines);
         }
     }
@@ -182,11 +192,11 @@ geometry::Image DepthNoiseSimulator::Simulate(const geometry::Image &im_src,
     geometry::kernel::TArrayIndexer<int> dst_indexer(im_dst_tensor, 2);
     geometry::kernel::TArrayIndexer<int> model_indexer(model_, 3);
 
-    // To match the original implementation, we try to keep the same variable
-    // names with reference to the original code. Compared to the original
-    // implementation, parallelization is done in im_dst_tensor per-pixel level,
-    // instead of per-image level. Check out the original code at:
-    // http://redwood-data.org/indoor/data/simdepth.py.
+    // To match the original implementation, we try to keep the same
+    // variable names with reference to the original code. Compared to the
+    // original implementation, parallelization is done in im_dst_tensor
+    // per-pixel level, instead of per-image level. Check out the original
+    // code at: http://redwood-data.org/indoor/data/simdepth.py.
     core::ParallelFor(
             core::Device("CPU:0"), width * height,
             [&] OPEN3D_DEVICE(int workload_idx) {
diff --git a/cpp/open3d/t/io/file_format/FileASSIMP.cpp b/cpp/open3d/t/io/file_format/FileASSIMP.cpp
index 5eae7a9ffdc..514d59fca1b 100644
--- a/cpp/open3d/t/io/file_format/FileASSIMP.cpp
+++ b/cpp/open3d/t/io/file_format/FileASSIMP.cpp
@@ -6,6 +6,7 @@
 // ----------------------------------------------------------------------------
 
 #include <assimp/GltfMaterial.h>
+#include <assimp/material.h>
 #include <assimp/postprocess.h>
 #include <assimp/scene.h>
 
@@ -357,12 +358,17 @@ bool WriteTriangleMeshUsingASSIMP(const std::string& filename,
             auto r = mesh.GetMaterial().GetBaseClearcoatRoughness();
             ai_mat->AddProperty(&r, 1, AI_MATKEY_CLEARCOAT_ROUGHNESS_FACTOR);
         }
+        if (mesh.GetMaterial().HasEmissiveColor()) {
+            auto c = mesh.GetMaterial().GetEmissiveColor();
+            auto ac = aiColor4D(c.x(), c.y(), c.z(), c.w());
+            ai_mat->AddProperty(&ac, 1, AI_MATKEY_COLOR_EMISSIVE);
+        }
 
         // Count texture maps...
         // NOTE: GLTF2 expects a single combined roughness/metal map. If the
         // model has one we just export it, otherwise if both roughness and
-        // metal maps are avaialbe we combine them, otherwise if only one or the
-        // other is available we just export the one map.
+        // metal maps are available we combine them, otherwise if only one or
+        // the other is available we just export the one map.
         int n_textures = 0;
         if (mesh.GetMaterial().HasAlbedoMap()) ++n_textures;
         if (mesh.GetMaterial().HasNormalMap()) ++n_textures;
diff --git a/cpp/open3d/t/io/file_format/FileJPG.cpp b/cpp/open3d/t/io/file_format/FileJPG.cpp
index dc83fb3ad2e..e1830f5135f 100644
--- a/cpp/open3d/t/io/file_format/FileJPG.cpp
+++ b/cpp/open3d/t/io/file_format/FileJPG.cpp
@@ -19,6 +19,24 @@ namespace open3d {
 namespace t {
 namespace io {
 
+namespace {
+
+/// Convert libjpeg error messages to std::runtime_error. This prevents
+/// libjpeg from exit() in case of errors.
+void jpeg_error_throw(j_common_ptr p_cinfo) {
+    if (p_cinfo->is_decompressor)
+        jpeg_destroy_decompress(
+                reinterpret_cast<jpeg_decompress_struct *>(p_cinfo));
+    else
+        jpeg_destroy_compress(
+                reinterpret_cast<jpeg_compress_struct *>(p_cinfo));
+    char buffer[JMSG_LENGTH_MAX];
+    (*p_cinfo->err->format_message)(p_cinfo, buffer);
+    throw std::runtime_error(buffer);
+}
+
+}  // namespace
+
 bool ReadImageFromJPG(const std::string &filename, geometry::Image &image) {
     struct jpeg_decompress_struct cinfo;
     struct jpeg_error_mgr jerr;
@@ -28,56 +46,67 @@ bool ReadImageFromJPG(const std::string &filename, geometry::Image &image) {
     if ((file_in = utility::filesystem::FOpen(filename, "rb")) == NULL) {
         utility::LogWarning("Read JPG failed: unable to open file: {}",
                             filename);
+        image.Clear();
         return false;
     }
 
-    cinfo.err = jpeg_std_error(&jerr);
-    jpeg_create_decompress(&cinfo);
-    jpeg_stdio_src(&cinfo, file_in);
-    jpeg_read_header(&cinfo, TRUE);
-
-    // We only support two channel types: gray, and RGB.
-    int num_of_channels = 3;
-    switch (cinfo.jpeg_color_space) {
-        case JCS_RGB:
-        case JCS_YCbCr:
-            cinfo.out_color_space = JCS_RGB;
-            cinfo.out_color_components = 3;
-            num_of_channels = 3;
-            break;
-        case JCS_GRAYSCALE:
-            cinfo.jpeg_color_space = JCS_GRAYSCALE;
-            cinfo.out_color_components = 1;
-            num_of_channels = 1;
-            break;
-        case JCS_CMYK:
-        case JCS_YCCK:
-        default:
-            utility::LogWarning("Read JPG failed: color space not supported.");
-            jpeg_destroy_decompress(&cinfo);
-            fclose(file_in);
-            return false;
-    }
-    jpeg_start_decompress(&cinfo);
-    image.Clear();
-    image.Reset(cinfo.output_height, cinfo.output_width, num_of_channels,
-                core::UInt8, image.GetDevice());
-
-    int row_stride = cinfo.output_width * cinfo.output_components;
-    buffer = (*cinfo.mem->alloc_sarray)((j_common_ptr)&cinfo, JPOOL_IMAGE,
-                                        row_stride, 1);
-    uint8_t *pdata = static_cast<uint8_t *>(image.GetDataPtr());
-
-    while (cinfo.output_scanline < cinfo.output_height) {
-        jpeg_read_scanlines(&cinfo, buffer, 1);
-        core::MemoryManager::MemcpyFromHost(pdata, image.GetDevice(), buffer[0],
-                                            row_stride * 1);
-        pdata += row_stride;
+    try {
+        cinfo.err = jpeg_std_error(&jerr);
+        jerr.error_exit = jpeg_error_throw;
+        jpeg_create_decompress(&cinfo);
+        jpeg_stdio_src(&cinfo, file_in);
+        jpeg_read_header(&cinfo, TRUE);
+
+        // We only support two channel types: gray, and RGB.
+        int num_of_channels = 3;
+        switch (cinfo.jpeg_color_space) {
+            case JCS_RGB:
+            case JCS_YCbCr:
+                cinfo.out_color_space = JCS_RGB;
+                cinfo.out_color_components = 3;
+                num_of_channels = 3;
+                break;
+            case JCS_GRAYSCALE:
+                cinfo.jpeg_color_space = JCS_GRAYSCALE;
+                cinfo.out_color_components = 1;
+                num_of_channels = 1;
+                break;
+            case JCS_CMYK:
+            case JCS_YCCK:
+            default:
+                utility::LogWarning(
+                        "Read JPG failed: color space not supported.");
+                jpeg_destroy_decompress(&cinfo);
+                fclose(file_in);
+                image.Clear();
+                return false;
+        }
+        jpeg_start_decompress(&cinfo);
+        image.Clear();
+        image.Reset(cinfo.output_height, cinfo.output_width, num_of_channels,
+                    core::UInt8, image.GetDevice());
+
+        int row_stride = cinfo.output_width * cinfo.output_components;
+        buffer = (*cinfo.mem->alloc_sarray)((j_common_ptr)&cinfo, JPOOL_IMAGE,
+                                            row_stride, 1);
+        uint8_t *pdata = static_cast<uint8_t *>(image.GetDataPtr());
+
+        while (cinfo.output_scanline < cinfo.output_height) {
+            jpeg_read_scanlines(&cinfo, buffer, 1);
+            core::MemoryManager::MemcpyFromHost(pdata, image.GetDevice(),
+                                                buffer[0], row_stride * 1);
+            pdata += row_stride;
+        }
+        jpeg_finish_decompress(&cinfo);
+        jpeg_destroy_decompress(&cinfo);
+        fclose(file_in);
+        return true;
+    } catch (const std::runtime_error &err) {
+        fclose(file_in);
+        image.Clear();
+        utility::LogWarning("libjpeg error: {}", err.what());
+        return false;
     }
-    jpeg_finish_decompress(&cinfo);
-    jpeg_destroy_decompress(&cinfo);
-    fclose(file_in);
-    return true;
 }
 
 bool WriteImageToJPG(const std::string &filename,
@@ -112,31 +141,38 @@ bool WriteImageToJPG(const std::string &filename,
         return false;
     }
 
-    cinfo.err = jpeg_std_error(&jerr);
-    jpeg_create_compress(&cinfo);
-    jpeg_stdio_dest(&cinfo, file_out);
-    cinfo.image_width = image.GetCols();
-    cinfo.image_height = image.GetRows();
-    cinfo.input_components = image.GetChannels();
-    cinfo.in_color_space =
-            (cinfo.input_components == 1 ? JCS_GRAYSCALE : JCS_RGB);
-    jpeg_set_defaults(&cinfo);
-    jpeg_set_quality(&cinfo, quality, TRUE);
-    jpeg_start_compress(&cinfo, TRUE);
-    int row_stride = image.GetCols() * image.GetChannels();
-    const uint8_t *pdata = static_cast<const uint8_t *>(image.GetDataPtr());
-    std::vector<uint8_t> buffer(row_stride);
-    while (cinfo.next_scanline < cinfo.image_height) {
-        core::MemoryManager::MemcpyToHost(buffer.data(), pdata,
-                                          image.GetDevice(), row_stride * 1);
-        row_pointer[0] = buffer.data();
-        jpeg_write_scanlines(&cinfo, row_pointer, 1);
-        pdata += row_stride;
+    try {
+        cinfo.err = jpeg_std_error(&jerr);
+        jerr.error_exit = jpeg_error_throw;
+        jpeg_create_compress(&cinfo);
+        jpeg_stdio_dest(&cinfo, file_out);
+        cinfo.image_width = image.GetCols();
+        cinfo.image_height = image.GetRows();
+        cinfo.input_components = image.GetChannels();
+        cinfo.in_color_space =
+                (cinfo.input_components == 1 ? JCS_GRAYSCALE : JCS_RGB);
+        jpeg_set_defaults(&cinfo);
+        jpeg_set_quality(&cinfo, quality, TRUE);
+        jpeg_start_compress(&cinfo, TRUE);
+        int row_stride = image.GetCols() * image.GetChannels();
+        const uint8_t *pdata = static_cast<const uint8_t *>(image.GetDataPtr());
+        std::vector<uint8_t> buffer(row_stride);
+        while (cinfo.next_scanline < cinfo.image_height) {
+            core::MemoryManager::MemcpyToHost(
+                    buffer.data(), pdata, image.GetDevice(), row_stride * 1);
+            row_pointer[0] = buffer.data();
+            jpeg_write_scanlines(&cinfo, row_pointer, 1);
+            pdata += row_stride;
+        }
+        jpeg_finish_compress(&cinfo);
+        fclose(file_out);
+        jpeg_destroy_compress(&cinfo);
+        return true;
+    } catch (const std::runtime_error &err) {
+        fclose(file_out);
+        utility::LogWarning(err.what());
+        return false;
     }
-    jpeg_finish_compress(&cinfo);
-    fclose(file_out);
-    jpeg_destroy_compress(&cinfo);
-    return true;
 }
 
 }  // namespace io
diff --git a/cpp/open3d/t/io/file_format/FilePNG.cpp b/cpp/open3d/t/io/file_format/FilePNG.cpp
index 2497e2a71c8..8560bc8b431 100644
--- a/cpp/open3d/t/io/file_format/FilePNG.cpp
+++ b/cpp/open3d/t/io/file_format/FilePNG.cpp
@@ -41,6 +41,7 @@ bool ReadImageFromPNG(const std::string &filename, geometry::Image &image) {
     pngimage.version = PNG_IMAGE_VERSION;
     if (png_image_begin_read_from_file(&pngimage, filename.c_str()) == 0) {
         utility::LogWarning("Read PNG failed: unable to parse header.");
+        image.Clear();
         return false;
     }
 
@@ -64,6 +65,7 @@ bool ReadImageFromPNG(const std::string &filename, geometry::Image &image) {
         utility::LogWarning("Read PNG failed: unable to read file: {}",
                             filename);
         utility::LogWarning("PNG error: {}", pngimage.message);
+        image.Clear();
         return false;
     }
     return true;
@@ -141,7 +143,7 @@ bool WriteImageToPNGInMemory(std::vector<uint8_t> &buffer,
     buffer.resize(mem_bytes);
     if (png_image_write_to_memory(&pngimage, &buffer[0], &mem_bytes, 0,
                                   image.GetDataPtr(), 0, nullptr) == 0) {
-        utility::LogWarning("Unable to encode to encode to PNG in memory.");
+        utility::LogWarning("Unable to encode to PNG in memory.");
         return false;
     }
     return true;
diff --git a/cpp/open3d/visualization/gui/PickPointsInteractor.cpp b/cpp/open3d/visualization/gui/PickPointsInteractor.cpp
index 45ca7c44c1e..63ecfba7955 100644
--- a/cpp/open3d/visualization/gui/PickPointsInteractor.cpp
+++ b/cpp/open3d/visualization/gui/PickPointsInteractor.cpp
@@ -155,8 +155,6 @@ void PickPointsInteractor::SetPickableGeometry(
     // TriangleMesh so that occluded points are not selected.
     points_.clear();
     for (auto &pg : geometry) {
-        lookup_->Add(pg.name, points_.size());
-
         auto cloud = dynamic_cast<const geometry::PointCloud *>(pg.geometry);
         auto tcloud =
                 dynamic_cast<const t::geometry::PointCloud *>(pg.tgeometry);
@@ -166,6 +164,12 @@ void PickPointsInteractor::SetPickableGeometry(
         auto lineset = dynamic_cast<const geometry::LineSet *>(pg.geometry);
         auto tlineset =
                 dynamic_cast<const t::geometry::LineSet *>(pg.tgeometry);
+
+        // only add geometry with pickable points
+        if (cloud || tcloud || mesh || tmesh || lineset || tlineset) {
+            lookup_->Add(pg.name, points_.size());
+        }
+
         if (cloud) {
             points_.insert(points_.end(), cloud->points_.begin(),
                            cloud->points_.end());
@@ -268,35 +272,38 @@ void PickPointsInteractor::SetOnStartedPolygonPicking(
 }
 
 void PickPointsInteractor::Mouse(const MouseEvent &e) {
-    if (e.type == MouseEvent::BUTTON_UP) {
-        if (e.modifiers & int(KeyModifier::ALT)) {
-            if (pending_.empty() || pending_.back().keymods == 0) {
-                pending_.push({{gui::Point(e.x, e.y)}, int(KeyModifier::ALT)});
-                if (on_ui_changed_) {
-                    on_ui_changed_({});
-                }
-            } else {
-                pending_.back().polygon.push_back(gui::Point(e.x, e.y));
-                if (on_started_poly_pick_) {
-                    on_started_poly_pick_();
-                }
-                if (on_ui_changed_) {
-                    std::vector<Eigen::Vector2i> lines;
-                    auto &polygon = pending_.back().polygon;
-                    for (size_t i = 1; i < polygon.size(); ++i) {
-                        auto &p0 = polygon[i - 1];
-                        auto &p1 = polygon[i];
-                        lines.push_back({p0.x, p0.y});
-                        lines.push_back({p1.x, p1.y});
-                    }
-                    lines.push_back({polygon.back().x, polygon.back().y});
-                    lines.push_back({polygon[0].x, polygon[0].y});
-                    on_ui_changed_(lines);
-                }
+    if (e.type != MouseEvent::BUTTON_UP) return;
+
+    bool polygon_picking_requested = e.modifiers & int(KeyModifier::ALT);
+    if (!polygon_picking_requested) {
+        // standard point picking
+        pending_.push({{gui::Point(e.x, e.y)}, e.modifiers});
+        DoPick();
+    } else {
+        // special polygon picking mode
+        if (pending_.empty() || pending_.back().keymods == 0) {
+            pending_.push({{gui::Point(e.x, e.y)}, e.modifiers});
+            if (on_ui_changed_) {
+                on_ui_changed_({});
             }
         } else {
-            pending_.push({{gui::Point(e.x, e.y)}, 0});
-            DoPick();
+            pending_.back().polygon.push_back(gui::Point(e.x, e.y));
+            if (on_started_poly_pick_) {
+                on_started_poly_pick_();
+            }
+            if (on_ui_changed_) {
+                std::vector<Eigen::Vector2i> lines;
+                auto &polygon = pending_.back().polygon;
+                for (size_t i = 1; i < polygon.size(); ++i) {
+                    auto &p0 = polygon[i - 1];
+                    auto &p1 = polygon[i];
+                    lines.push_back({p0.x, p0.y});
+                    lines.push_back({p1.x, p1.y});
+                }
+                lines.push_back({polygon.back().x, polygon.back().y});
+                lines.push_back({polygon[0].x, polygon[0].y});
+                on_ui_changed_(lines);
+            }
         }
     }
 }
diff --git a/cpp/open3d/visualization/rendering/Material.cpp b/cpp/open3d/visualization/rendering/Material.cpp
index fad82623382..d264711f987 100644
--- a/cpp/open3d/visualization/rendering/Material.cpp
+++ b/cpp/open3d/visualization/rendering/Material.cpp
@@ -26,6 +26,7 @@ void Material::SetDefaultProperties() {
     SetTransmission(1.f);
     SetAbsorptionColor(Eigen::Vector4f(1.f, 1.f, 1.f, 1.f));
     SetAbsorptionDistance(1.f);
+    SetEmissiveColor(Eigen::Vector4f(1.f, 1.f, 1.f, 1.f));
     SetPointSize(3.f);
     SetLineWidth(1.f);
 }
@@ -39,6 +40,24 @@ void Material::SetTextureMap(const std::string &key,
     texture_maps_[key] = image.To(core::Device("CPU:0"), true);
 }
 
+std::string Material::ToString() const {
+    if (!IsValid()) {
+        return "Invalid Material\n";
+    }
+    std::ostringstream os;
+    os << "Material " << material_name_ << '\n';
+    for (const auto &kv : scalar_properties_) {
+        os << '\t' << kv.first << ": " << kv.second << '\n';
+    }
+    for (const auto &kv : vector_properties_) {
+        os << '\t' << kv.first << ": " << kv.second.transpose() << '\n';
+    }
+    for (const auto &kv : texture_maps_) {
+        os << '\t' << kv.first << ": " << kv.second.ToString() << '\n';
+    }
+    return os.str();
+}
+
 void Material::ToMaterialRecord(MaterialRecord &record) const {
     record.shader = GetMaterialName();
     // Convert base material properties
@@ -63,6 +82,9 @@ void Material::ToMaterialRecord(MaterialRecord &record) const {
     if (HasAnisotropy()) {
         record.base_anisotropy = GetAnisotropy();
     }
+    if (HasEmissiveColor()) {
+        record.emissive_color = GetEmissiveColor();
+    }
     if (HasThickness()) {
         record.thickness = GetThickness();
     }
@@ -124,6 +146,62 @@ void Material::ToMaterialRecord(MaterialRecord &record) const {
     }
 }
 
+Material Material::FromMaterialRecord(const MaterialRecord &record) {
+    using t::geometry::Image;
+    Material tmat(record.shader);
+    // scalar and vector properties
+    tmat.SetBaseColor(record.base_color);
+    tmat.SetBaseMetallic(record.base_metallic);
+    tmat.SetBaseRoughness(record.base_roughness);
+    tmat.SetBaseReflectance(record.base_reflectance);
+    tmat.SetBaseClearcoat(record.base_clearcoat);
+    tmat.SetBaseClearcoatRoughness(record.base_clearcoat_roughness);
+    tmat.SetAnisotropy(record.base_anisotropy);
+    tmat.SetEmissiveColor(record.emissive_color);
+    // refractive materials
+    tmat.SetThickness(record.thickness);
+    tmat.SetTransmission(record.transmission);
+    tmat.SetAbsorptionDistance(record.absorption_distance);
+    // points and lines
+    tmat.SetPointSize(record.point_size);
+    tmat.SetLineWidth(record.line_width);
+    // maps
+    if (record.albedo_img) {
+        tmat.SetAlbedoMap(Image::FromLegacy(*record.albedo_img));
+    }
+    if (record.normal_img) {
+        tmat.SetNormalMap(Image::FromLegacy(*record.normal_img));
+    }
+    if (record.ao_img) {
+        tmat.SetAOMap(Image::FromLegacy(*record.ao_img));
+    }
+    if (record.metallic_img) {
+        tmat.SetMetallicMap(Image::FromLegacy(*record.metallic_img));
+    }
+    if (record.roughness_img) {
+        tmat.SetRoughnessMap(Image::FromLegacy(*record.roughness_img));
+    }
+    if (record.reflectance_img) {
+        tmat.SetReflectanceMap(Image::FromLegacy(*record.reflectance_img));
+    }
+    if (record.clearcoat_img) {
+        tmat.SetClearcoatMap(Image::FromLegacy(*record.clearcoat_img));
+    }
+    if (record.clearcoat_roughness_img) {
+        tmat.SetClearcoatRoughnessMap(
+                Image::FromLegacy(*record.clearcoat_roughness_img));
+    }
+    if (record.anisotropy_img) {
+        tmat.SetAnisotropyMap(Image::FromLegacy(*record.anisotropy_img));
+    }
+    if (record.ao_rough_metal_img) {
+        tmat.SetAORoughnessMetalMap(
+                Image::FromLegacy(*record.ao_rough_metal_img));
+    }
+
+    return tmat;
+}
+
 }  // namespace rendering
 }  // namespace visualization
 }  // namespace open3d
diff --git a/cpp/open3d/visualization/rendering/Material.h b/cpp/open3d/visualization/rendering/Material.h
index 7ee1396b281..27afcd8a69a 100644
--- a/cpp/open3d/visualization/rendering/Material.h
+++ b/cpp/open3d/visualization/rendering/Material.h
@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include <sstream>
 #include <string>
 
 #include "open3d/t/geometry/Image.h"
@@ -34,6 +35,9 @@ class Material {
 
     Material(const Material &mat) = default;
 
+    /// Convert from MaterialRecord
+    static Material FromMaterialRecord(const MaterialRecord &mat);
+
     Material &operator=(const Material &other) = default;
 
     /// Create an empty but valid material for the specified material name
@@ -51,6 +55,9 @@ class Material {
     /// Get the name of the material.
     const std::string &GetMaterialName() const { return material_name_; }
 
+    /// String reprentation for printing.
+    std::string ToString() const;
+
     /// Returns the texture map map
     const TextureMaps &GetTextureMaps() const { return texture_maps_; }
 
@@ -249,6 +256,9 @@ class Material {
     float GetAbsorptionDistance() const {
         return GetScalarProperty("absorption_distance");
     }
+    Eigen::Vector4f GetEmissiveColor() const {
+        return GetVectorProperty("emissive_color");
+    }
 
     bool HasBaseColor() const { return HasVectorProperty("base_color"); }
     bool HasBaseMetallic() const { return HasScalarProperty("metallic"); }
@@ -267,6 +277,9 @@ class Material {
     bool HasAbsorptionDistance() const {
         return HasScalarProperty("absorption_distance");
     }
+    bool HasEmissiveColor() const {
+        return HasVectorProperty("emissive_color");
+    }
 
     void SetBaseColor(const Eigen::Vector4f &value) {
         SetVectorProperty("base_color", value);
@@ -295,6 +308,9 @@ class Material {
     void SetAbsorptionDistance(float value) {
         SetScalarProperty("absorption_distance", value);
     }
+    void SetEmissiveColor(const Eigen::Vector4f &value) {
+        SetVectorProperty("emissive_color", value);
+    }
 
     ////////////////////////////////////////////////////////////////////////////
     ///
diff --git a/cpp/open3d/visualization/visualizer/O3DVisualizer.cpp b/cpp/open3d/visualization/visualizer/O3DVisualizer.cpp
index 3ab06cec1b9..554d38b2466 100644
--- a/cpp/open3d/visualization/visualizer/O3DVisualizer.cpp
+++ b/cpp/open3d/visualization/visualizer/O3DVisualizer.cpp
@@ -384,7 +384,9 @@ struct O3DVisualizer::Impl {
                                std::vector<std::pair<size_t, Eigen::Vector3d>>>
                                &indices,
                        int keymods) {
-                    if ((keymods & int(KeyModifier::SHIFT)) ||
+                    bool unselect_mode_requested =
+                            keymods & int(KeyModifier::SHIFT);
+                    if (unselect_mode_requested ||
                         polygon_selection_unselects_) {
                         selections_->UnselectIndices(indices);
                     } else {
@@ -488,11 +490,13 @@ struct O3DVisualizer::Impl {
         });
 
 #if __APPLE__
-        const char *selection_help =
-                "Cmd-click to select a point\nCmd-ctrl-click to polygon select";
+        const char *selection_help = R"(Cmd-click to select a point
+Cmd-shift-click to deselect a point
+Cmd-alt-click to polygon select)";
 #else
-        const char *selection_help =
-                "Ctrl-click to select a point\nCmd-alt-click to polygon select";
+        const char *selection_help = R"(Ctrl-click to select a point
+Ctrl-shift-click to deselect a point
+Ctrl-alt-click to polygon select)";
 #endif  // __APPLE__
         h = new Horiz();
         h->AddStretch();
@@ -1545,12 +1549,10 @@ struct O3DVisualizer::Impl {
             OverrideMaterial(o.name, o.material, ui_state_.scene_shader);
         }
 
-        auto bbox = scene_->GetScene()->GetBoundingBox();
-        auto xdim = bbox.max_bound_.x() - bbox.min_bound_.x();
-        auto ydim = bbox.max_bound_.y() - bbox.min_bound_.z();
-        auto zdim = bbox.max_bound_.z() - bbox.min_bound_.y();
+        auto bbox_extend = scene_->GetScene()->GetBoundingBox().GetExtent();
         auto psize = double(std::max(5, px)) * 0.000666 *
-                     std::max(xdim, std::max(ydim, zdim));
+                     std::max(bbox_extend.x(),
+                              std::max(bbox_extend.y(), bbox_extend.z()));
         selections_->SetPointSize(psize);
 
         scene_->SetPickablePointSize(px);
diff --git a/cpp/open3d/visualization/visualizer/ViewControl.cpp b/cpp/open3d/visualization/visualizer/ViewControl.cpp
index a4dff55a64a..a4ba2aae314 100644
--- a/cpp/open3d/visualization/visualizer/ViewControl.cpp
+++ b/cpp/open3d/visualization/visualizer/ViewControl.cpp
@@ -182,8 +182,8 @@ bool ViewControl::ConvertFromPinholeCameraParameters(
          window_width_ != intrinsic.width_ ||
          std::abs(intrinsic.intrinsic_matrix_(0, 2) -
                   ((double)window_width_ / 2.0 - 0.5)) > threshold ||
-         std::abs(intrinsic.intrinsic_matrix_(1, 2) =
-                          ((double)window_height_ / 2.0 - 0.5)) > threshold)) {
+         std::abs(intrinsic.intrinsic_matrix_(1, 2) -
+                  ((double)window_height_ / 2.0 - 0.5)) > threshold)) {
         utility::LogWarning(
                 "[ViewControl] ConvertFromPinholeCameraParameters() failed "
                 "because window height and width do not match.");
diff --git a/cpp/open3d/visualization/visualizer/VisualizerWithKeyCallback.cpp b/cpp/open3d/visualization/visualizer/VisualizerWithKeyCallback.cpp
index a4845166b8a..6fd167b73e5 100644
--- a/cpp/open3d/visualization/visualizer/VisualizerWithKeyCallback.cpp
+++ b/cpp/open3d/visualization/visualizer/VisualizerWithKeyCallback.cpp
@@ -26,6 +26,13 @@ void VisualizerWithKeyCallback::PrintVisualizerHelp() {
     utility::LogInfo(
             "    The default functions of these keys will be overridden.");
     utility::LogInfo("");
+
+    std::string mouse_callbacks = (mouse_move_callback_ ? "MouseMove, " : "");
+    mouse_callbacks += (mouse_scroll_callback_ ? "MouseScroll, " : "");
+    mouse_callbacks += (mouse_button_callback_ ? "MouseButton, " : "");
+    utility::LogInfo("    Custom mouse callbacks registered for: {}",
+                     mouse_callbacks.substr(0, mouse_callbacks.size() - 2));
+    utility::LogInfo("");
 }
 
 void VisualizerWithKeyCallback::RegisterKeyCallback(
@@ -38,6 +45,21 @@ void VisualizerWithKeyCallback::RegisterKeyActionCallback(
     key_action_to_callback_[key] = callback;
 }
 
+void VisualizerWithKeyCallback::RegisterMouseMoveCallback(
+        std::function<bool(Visualizer *, double, double)> callback) {
+    mouse_move_callback_ = callback;
+}
+
+void VisualizerWithKeyCallback::RegisterMouseScrollCallback(
+        std::function<bool(Visualizer *, double, double)> callback) {
+    mouse_scroll_callback_ = callback;
+}
+
+void VisualizerWithKeyCallback::RegisterMouseButtonCallback(
+        std::function<bool(Visualizer *, int, int, int)> callback) {
+    mouse_button_callback_ = callback;
+}
+
 void VisualizerWithKeyCallback::KeyPressCallback(
         GLFWwindow *window, int key, int scancode, int action, int mods) {
     auto action_callback = key_action_to_callback_.find(key);
@@ -63,6 +85,46 @@ void VisualizerWithKeyCallback::KeyPressCallback(
     }
 }
 
+void VisualizerWithKeyCallback::MouseMoveCallback(GLFWwindow *window,
+                                                  double x,
+                                                  double y) {
+    if (mouse_move_callback_) {
+        if (mouse_move_callback_(this, x, y)) {
+            UpdateGeometry();
+        }
+        UpdateRender();
+    } else {
+        Visualizer::MouseMoveCallback(window, x, y);
+    }
+}
+
+void VisualizerWithKeyCallback::MouseScrollCallback(GLFWwindow *window,
+                                                    double x,
+                                                    double y) {
+    if (mouse_scroll_callback_) {
+        if (mouse_scroll_callback_(this, x, y)) {
+            UpdateGeometry();
+        }
+        UpdateRender();
+    } else {
+        Visualizer::MouseScrollCallback(window, x, y);
+    }
+}
+
+void VisualizerWithKeyCallback::MouseButtonCallback(GLFWwindow *window,
+                                                    int button,
+                                                    int action,
+                                                    int mods) {
+    if (mouse_button_callback_) {
+        if (mouse_button_callback_(this, button, action, mods)) {
+            UpdateGeometry();
+        }
+        UpdateRender();
+    } else {
+        Visualizer::MouseButtonCallback(window, button, action, mods);
+    }
+}
+
 std::string VisualizerWithKeyCallback::PrintKeyToString(int key) {
     if (key == GLFW_KEY_SPACE) {  // 32
         return std::string("Space");
diff --git a/cpp/open3d/visualization/visualizer/VisualizerWithKeyCallback.h b/cpp/open3d/visualization/visualizer/VisualizerWithKeyCallback.h
index 92274978d81..add4e265edc 100644
--- a/cpp/open3d/visualization/visualizer/VisualizerWithKeyCallback.h
+++ b/cpp/open3d/visualization/visualizer/VisualizerWithKeyCallback.h
@@ -33,6 +33,7 @@ class VisualizerWithKeyCallback : public Visualizer {
     void PrintVisualizerHelp() override;
     void RegisterKeyCallback(int key,
                              std::function<bool(Visualizer *)> callback);
+
     /// Register callback function with access to GLFW key actions.
     ///
     /// \param key GLFW key value, see [GLFW key
@@ -48,18 +49,61 @@ class VisualizerWithKeyCallback : public Visualizer {
     void RegisterKeyActionCallback(
             int key, std::function<bool(Visualizer *, int, int)> callback);
 
+    /// Register callback function with access to GLFW mouse actions.
+    ///
+    /// \param callback The callback function. The callback function takes
+    /// `Visualizer *`, and the x and y mouse position inside the window and
+    /// returns a boolean indicating if `UpdateGeometry()` needs to be run. See
+    /// [GLFW mouse
+    /// position](https://www.glfw.org/docs/latest/input_guide.html#input_mouse)
+    /// for more details.
+    void RegisterMouseMoveCallback(
+            std::function<bool(Visualizer *, double, double)> callback);
+
+    /// Register callback function with access to GLFW mouse actions.
+    ///
+    /// \param callback The callback function. The callback function takes
+    /// `Visualizer *`, and the x and y scroll values and returns a boolean
+    /// indicating if `UpdateGeometry()` needs to be run. A normal mouse only
+    /// provides a y scroll value. See [GLFW mouse
+    /// scrolling](https://www.glfw.org/docs/latest/input_guide.html#scrolling)
+    /// for more details.
+    void RegisterMouseScrollCallback(
+            std::function<bool(Visualizer *, double, double)> callback);
+
+    /// Register callback function with access to GLFW mouse actions.
+    ///
+    /// \param callback The callback function. The callback function takes
+    /// `Visualizer *`, `button`, `action` and `mods` as input and returns a
+    /// boolean indicating UpdateGeometry() needs to be run. The `action` can be
+    /// one of GLFW_RELEASE (0), GLFW_PRESS (1) or GLFW_REPEAT (2), see [GLFW
+    /// input interface](https://www.glfw.org/docs/latest/group__input.html).
+    /// The `mods` specifies the modifier key, see [GLFW modifier
+    /// key](https://www.glfw.org/docs/latest/group__mods.html).
+    void RegisterMouseButtonCallback(
+            std::function<bool(Visualizer *, int, int, int)> callback);
+
 protected:
     void KeyPressCallback(GLFWwindow *window,
                           int key,
                           int scancode,
                           int action,
                           int mods) override;
+    void MouseMoveCallback(GLFWwindow *window, double x, double y) override;
+    void MouseScrollCallback(GLFWwindow *window, double x, double y) override;
+    void MouseButtonCallback(GLFWwindow *window,
+                             int button,
+                             int action,
+                             int mods) override;
     std::string PrintKeyToString(int key);
 
 protected:
     std::map<int, std::function<bool(Visualizer *)>> key_to_callback_;
     std::map<int, std::function<bool(Visualizer *, int, int)>>
             key_action_to_callback_;
+    std::function<bool(Visualizer *, double, double)> mouse_move_callback_;
+    std::function<bool(Visualizer *, double, double)> mouse_scroll_callback_;
+    std::function<bool(Visualizer *, int, int, int)> mouse_button_callback_;
 };
 
 }  // namespace visualization
diff --git a/cpp/pybind/pipelines/registration/registration.cpp b/cpp/pybind/pipelines/registration/registration.cpp
index f5165537fea..cddcb7e7e80 100644
--- a/cpp/pybind/pipelines/registration/registration.cpp
+++ b/cpp/pybind/pipelines/registration/registration.cpp
@@ -351,7 +351,7 @@ Sets :math:`c = 1` if ``with_scaling`` is ``False``.
                   "Check if two point clouds build the polygons with similar "
                   "edge lengths. That is, checks if the lengths of any two "
                   "arbitrary edges (line formed by two vertices) individually "
-                  "drawn withinin source point cloud and within the target "
+                  "drawn within the source point cloud and within the target "
                   "point cloud with correspondences are similar. The only "
                   "parameter similarity_threshold is a number between 0 "
                   "(loose) and 1 (strict)");
diff --git a/cpp/pybind/t/geometry/lineset.cpp b/cpp/pybind/t/geometry/lineset.cpp
index d9bf8adbe43..299deef36b0 100644
--- a/cpp/pybind/t/geometry/lineset.cpp
+++ b/cpp/pybind/t/geometry/lineset.cpp
@@ -299,6 +299,37 @@ transformation as :math:`P = R(P) + t`)");
         mesh = lines.extrude_linear([0,1,0])
         o3d.visualization.draw([{'name': 'L', 'geometry': mesh}])
 
+)");
+    line_set.def("paint_uniform_color", &LineSet::PaintUniformColor, "color"_a,
+                 "Assigns unifom color to all the lines of the LineSet. "
+                 "Floating color values are clipped between 00 and 1.0. Input "
+                 "`color` should be a (3,) shape tensor.");
+    line_set.def_static(
+            "create_camera_visualization", &LineSet::CreateCameraVisualization,
+            "view_width_px"_a, "view_height_px"_a, "intrinsic"_a, "extrinsic"_a,
+            "scale"_a = 1.f, "color"_a = core::Tensor({}, core::Float32),
+            R"(Factory function to create a LineSet from intrinsic and extrinsic
+matrices. Camera reference frame is shown with XYZ axes in RGB.
+
+Args:
+    view_width_px (int): The width of the view, in pixels.
+    view_height_px (int): The height of the view, in pixels.
+    intrinsic (open3d.core.Tensor): The intrinsic matrix {3,3} shape.
+    extrinsic (open3d.core.Tensor): The extrinsic matrix {4,4} shape.
+    scale (float): camera scale
+    color (open3d.core.Tensor): color with float32 and shape {3}. Default is blue.
+
+Example:
+
+    Draw a purple camera frame with XYZ axes in RGB.
+
+        import open3d.core as o3c
+        from open3d.t.geometry import LineSet
+        from open3d.visualization import draw
+        K = o3c.Tensor([[512, 0, 512], [0, 512, 512], [0, 0, 1]], dtype=o3c.float32)
+        T = o3c.Tensor.eye(4, dtype=o3c.float32)
+        ls = LineSet.create_camera_visualization(1024, 1024, K, T, 1, [0.8, 0.2, 0.8])
+        draw([ls])
 )");
 }
 
diff --git a/cpp/pybind/t/geometry/trianglemesh.cpp b/cpp/pybind/t/geometry/trianglemesh.cpp
index 6285b00c6b3..96307fddc91 100644
--- a/cpp/pybind/t/geometry/trianglemesh.cpp
+++ b/cpp/pybind/t/geometry/trianglemesh.cpp
@@ -238,6 +238,28 @@ The attributes of the triangle mesh have different levels::
             "vertex_dtype"_a = core::Float32, "triangle_dtype"_a = core::Int64,
             "device"_a = core::Device("CPU:0"),
             "Create a TriangleMesh from a legacy Open3D TriangleMesh.");
+    triangle_mesh.def_static(
+            "from_triangle_mesh_model", &TriangleMesh::FromTriangleMeshModel,
+            "model"_a, "vertex_dtype"_a = core::Float32,
+            "triangle_dtype"_a = core::Int64,
+            "device"_a = core::Device("CPU:0"),
+            R"(Convert a TriangleMeshModel (e.g. as read from a file with
+`open3d.io.read_triangle_mesh_model()`) to a dictionary of mesh names to
+triangle meshes with the specified vertex and triangle dtypes and moved to the
+specified device. Only a single material per mesh is supported. Materials common
+to multiple meshes will be duplicated. Textures (as t.geometry.Image) will use
+shared storage on the CPU (GPU resident images for textures is not yet supported).
+
+Returns:
+    Dictionary of names to triangle meshes.
+
+Example:
+    flight_helmet = o3d.data.FlightHelmetModel()
+    model = o3d.io.read_triangle_model(flight_helmet.path)
+    mesh_dict = o3d.t.geometry.TriangleMesh.from_triangle_mesh_model(model)
+    o3d.visualization.draw(list({"name": name, "geometry": tmesh} for
+        (name, tmesh) in mesh_dict.items()))
+            )");
     // conversion
     triangle_mesh.def("to_legacy", &TriangleMesh::ToLegacy,
                       "Convert to a legacy Open3D TriangleMesh.");
@@ -706,7 +728,7 @@ This function always uses the CPU device.
 
 Returns:
     This function creates a face attribute "texture_uvs" and returns a tuple
-    with (max stretch, num_charts, num_partitions) storing the 
+    with (max stretch, num_charts, num_partitions) storing the
     actual amount of stretch, the number of created charts, and the number of
     parallel partitions created.
 
@@ -883,7 +905,7 @@ This function always uses the CPU device.
                       "max_faces"_a,
                       R"(Partition the mesh by recursively doing PCA.
 
-This function creates a new face attribute with the name "partition_ids" storing 
+This function creates a new face attribute with the name "partition_ids" storing
 the partition id for each face.
 
 Args:
@@ -892,7 +914,7 @@ the partition id for each face.
 
 Example:
 
-    This code partitions a mesh such that each partition contains at most 20k 
+    This code partitions a mesh such that each partition contains at most 20k
     faces::
 
         import open3d as o3d
@@ -911,15 +933,15 @@ the partition id for each face.
             R"(Returns a new mesh with the faces selected by a boolean mask.
 
 Args:
-    mask (open3d.core.Tensor): A boolean mask with the shape (N) with N as the 
+    mask (open3d.core.Tensor): A boolean mask with the shape (N) with N as the
         number of faces in the mesh.
-    
+
 Returns:
     A new mesh with the selected faces. If the original mesh is empty, return an empty mesh.
 
 Example:
 
-    This code partitions the mesh using PCA and then visualized the individual 
+    This code partitions the mesh using PCA and then visualized the individual
     parts::
 
         import open3d as o3d
@@ -962,6 +984,10 @@ or has a negative value, it is ignored.
         box = o3d.t.geometry.TriangleMesh.create_box()
         top_face = box.select_by_index([2, 3, 6, 7])
 )");
+
+    triangle_mesh.def("remove_unreferenced_vertices",
+                      &TriangleMesh::RemoveUnreferencedVertices,
+                      "Removes unreferenced vertices from the mesh in-place.");
 }
 
 }  // namespace geometry
diff --git a/cpp/pybind/visualization/rendering/material.cpp b/cpp/pybind/visualization/rendering/material.cpp
index 82225c9c90a..3e109dcdbb3 100644
--- a/cpp/pybind/visualization/rendering/material.cpp
+++ b/cpp/pybind/visualization/rendering/material.cpp
@@ -12,6 +12,7 @@
 
 #include "open3d/visualization/rendering/Material.h"
 
+#include "open3d/visualization/rendering/MaterialRecord.h"
 #include "pybind/open3d_pybind.h"
 
 PYBIND11_MAKE_OPAQUE(
@@ -41,6 +42,9 @@ void pybind_material(py::module& m) {
     mat.def(py::init<>())
             .def(py::init<Material>(), "", "mat"_a)
             .def(py::init<const std::string&>(), "", "material_name"_a)
+            .def(py::init(&Material::FromMaterialRecord), "material_record"_a,
+                 "Convert from MaterialRecord.")
+            .def("__repr__", &Material::ToString)
             .def("set_default_properties", &Material::SetDefaultProperties,
                  "Fills material with defaults for common PBR material "
                  "properties used by Open3D")
diff --git a/cpp/pybind/visualization/visualizer.cpp b/cpp/pybind/visualization/visualizer.cpp
index 9370612d06c..990727dd45c 100644
--- a/cpp/pybind/visualization/visualizer.cpp
+++ b/cpp/pybind/visualization/visualizer.cpp
@@ -169,10 +169,48 @@ void pybind_visualizer(py::module &m) {
             .def("register_key_action_callback",
                  &VisualizerWithKeyCallback::RegisterKeyActionCallback,
                  "Function to register a callback function for a key action "
-                 "event. The callback function takes Visualizer, action and "
-                 "mods as input and returns a boolean indicating if "
-                 "UpdateGeometry() needs to be run.",
-                 "key"_a, "callback_func"_a);
+                 "event. The callback function takes `Visualizer`, `action` "
+                 "and `mods` as input and returns a boolean indicating if "
+                 "`UpdateGeometry()` needs to be run.  The `action` can be one "
+                 "of `GLFW_RELEASE` (0), `GLFW_PRESS` (1) or `GLFW_REPEAT` "
+                 "(2), see `GLFW input interface "
+                 "<https://www.glfw.org/docs/latest/group__input.html>`__. The "
+                 "`mods` specifies the modifier key, see `GLFW modifier key "
+                 "<https://www.glfw.org/docs/latest/group__mods.html>`__",
+                 "key"_a, "callback_func"_a)
+
+            .def("register_mouse_move_callback",
+                 &VisualizerWithKeyCallback::RegisterMouseMoveCallback,
+                 "Function to register a callback function for a mouse move "
+                 "event. The callback function takes Visualizer, x and y mouse "
+                 "position inside the window as input and returns a boolean "
+                 "indicating if UpdateGeometry() needs to be run. `GLFW mouse "
+                 "position <https://www.glfw.org/docs/latest/"
+                 "input_guide.html#input_mouse>`__ for more details.",
+                 "callback_func"_a)
+
+            .def("register_mouse_scroll_callback",
+                 &VisualizerWithKeyCallback::RegisterMouseScrollCallback,
+                 "Function to register a callback function for a mouse scroll "
+                 "event. The callback function takes Visualizer, x and y mouse "
+                 "scroll offset as input and returns a boolean "
+                 "indicating if UpdateGeometry() needs to be run. `GLFW mouse "
+                 "scrolling <https://www.glfw.org/docs/latest/"
+                 "input_guide.html#scrolling>`__ for more details.",
+                 "callback_func"_a)
+
+            .def("register_mouse_button_callback",
+                 &VisualizerWithKeyCallback::RegisterMouseButtonCallback,
+                 "Function to register a callback function for a mouse button "
+                 "event. The callback function takes `Visualizer`, `button`, "
+                 "`action` and `mods` as input and returns a boolean "
+                 "indicating `UpdateGeometry()` needs to be run. The `action` "
+                 "can be one of GLFW_RELEASE (0), GLFW_PRESS (1) or "
+                 "GLFW_REPEAT (2), see `GLFW input interface "
+                 "<https://www.glfw.org/docs/latest/group__input.html>`__.  "
+                 "The `mods` specifies the modifier key, see `GLFW modifier "
+                 "key <https://www.glfw.org/docs/latest/group__mods.html>`__.",
+                 "callback_func"_a);
 
     py::class_<VisualizerWithEditing, PyVisualizer<VisualizerWithEditing>,
                std::shared_ptr<VisualizerWithEditing>>
diff --git a/cpp/tests/core/Tensor.cpp b/cpp/tests/core/Tensor.cpp
index ad377274169..e4a4b14cf9d 100644
--- a/cpp/tests/core/Tensor.cpp
+++ b/cpp/tests/core/Tensor.cpp
@@ -30,12 +30,24 @@ INSTANTIATE_TEST_SUITE_P(Tensor,
                          TensorPermuteDevices,
                          testing::ValuesIn(PermuteDevices::TestCases()));
 
+class TensorPermuteDevicesWithSYCL : public PermuteDevices {};
+INSTANTIATE_TEST_SUITE_P(
+        Tensor,
+        TensorPermuteDevicesWithSYCL,
+        testing::ValuesIn(PermuteDevicesWithSYCL::TestCases()));
+
 class TensorPermuteDevicePairs : public PermuteDevicePairs {};
 INSTANTIATE_TEST_SUITE_P(
         Tensor,
         TensorPermuteDevicePairs,
         testing::ValuesIn(TensorPermuteDevicePairs::TestCases()));
 
+class TensorPermuteDevicePairsWithSYCL : public PermuteDevicePairsWithSYCL {};
+INSTANTIATE_TEST_SUITE_P(
+        Tensor,
+        TensorPermuteDevicePairsWithSYCL,
+        testing::ValuesIn(TensorPermuteDevicePairsWithSYCL::TestCases()));
+
 class TensorPermuteSizesDefaultStridesAndDevices
     : public testing::TestWithParam<
               std::tuple<std::pair<core::SizeVector, core::SizeVector>,
@@ -54,7 +66,7 @@ static constexpr const T &AsConst(T &t) noexcept {
     return t;
 }
 
-TEST_P(TensorPermuteDevices, Constructor) {
+TEST_P(TensorPermuteDevicesWithSYCL, Constructor) {
     core::Device device = GetParam();
     core::Dtype dtype = core::Float32;
 
@@ -71,7 +83,7 @@ TEST_P(TensorPermuteDevices, Constructor) {
     EXPECT_ANY_THROW(core::Tensor({-1, -1}, dtype, device));
 }
 
-TEST_P(TensorPermuteDevices, ConstructorBool) {
+TEST_P(TensorPermuteDevicesWithSYCL, ConstructorBool) {
     core::Device device = GetParam();
 
     core::SizeVector shape{2, 3};
@@ -105,7 +117,7 @@ TEST_P(TensorPermuteDevices, WithInitValue) {
     EXPECT_EQ(t.ToFlatVector<float>(), vals);
 }
 
-TEST_P(TensorPermuteDevices, WithInitList) {
+TEST_P(TensorPermuteDevicesWithSYCL, WithInitList) {
     core::Device device = GetParam();
 
     core::Tensor t;
@@ -187,7 +199,7 @@ TEST_P(TensorPermuteDevices, WithInitList) {
                  std::exception);
 }
 
-TEST_P(TensorPermuteDevices, WithInitValueBool) {
+TEST_P(TensorPermuteDevicesWithSYCL, WithInitValueBool) {
     core::Device device = GetParam();
 
     std::vector<bool> vals{true, false, true, true, false, false};
@@ -195,7 +207,7 @@ TEST_P(TensorPermuteDevices, WithInitValueBool) {
     EXPECT_EQ(t.ToFlatVector<bool>(), vals);
 }
 
-TEST_P(TensorPermuteDevices, WithInitValueTypeMismatch) {
+TEST_P(TensorPermuteDevicesWithSYCL, WithInitValueTypeMismatch) {
     core::Device device = GetParam();
 
     std::vector<int> vals{0, 1, 2, 3, 4, 5};
@@ -203,7 +215,7 @@ TEST_P(TensorPermuteDevices, WithInitValueTypeMismatch) {
                  std::runtime_error);
 }
 
-TEST_P(TensorPermuteDevices, WithInitValueSizeMismatch) {
+TEST_P(TensorPermuteDevicesWithSYCL, WithInitValueSizeMismatch) {
     core::Device device = GetParam();
 
     std::vector<float> vals{0, 1, 2, 3, 4};
@@ -298,7 +310,7 @@ TEST_P(TensorPermuteDevicePairs, IndexSetFillFancy) {
                                   0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0}));
 }
 
-TEST_P(TensorPermuteDevicePairs, Copy) {
+TEST_P(TensorPermuteDevicePairsWithSYCL, Copy) {
     core::Device dst_device;
     core::Device src_device;
     std::tie(dst_device, src_device) = GetParam();
@@ -317,7 +329,7 @@ TEST_P(TensorPermuteDevicePairs, Copy) {
     EXPECT_EQ(dst_t.ToFlatVector<float>(), vals);
 }
 
-TEST_P(TensorPermuteDevicePairs, CopyBool) {
+TEST_P(TensorPermuteDevicePairsWithSYCL, CopyBool) {
     core::Device dst_device;
     core::Device src_device;
     std::tie(dst_device, src_device) = GetParam();
@@ -357,12 +369,15 @@ TEST_P(TensorPermuteDevicePairs, ToDevice) {
     core::Device src_device;
     std::tie(dst_device, src_device) = GetParam();
 
-    core::Tensor src_t = core::Tensor::Init<float>({0, 1, 2, 3}, src_device);
+    core::Tensor src_t =
+            core::Tensor::Init<float>({0.f, 1.f, 2.f, 3.f}, src_device);
     core::Tensor dst_t = src_t.To(dst_device);
     EXPECT_TRUE(dst_t.To(src_device).AllClose(src_t));
 
     EXPECT_ANY_THROW(src_t.To(core::Device("CPU:1")));
 
+    EXPECT_ANY_THROW(src_t.To(core::Device("SYCL:100")));
+
     EXPECT_ANY_THROW(src_t.To(core::Device("CUDA:-1")));
     EXPECT_ANY_THROW(src_t.To(core::Device("CUDA:100000")));
 }
@@ -529,7 +544,7 @@ TEST_P(TensorPermuteDevices, Flatten) {
     EXPECT_ANY_THROW(src_t.Flatten(2, 1));
 }
 
-TEST_P(TensorPermuteDevices, DefaultStrides) {
+TEST_P(TensorPermuteDevicesWithSYCL, DefaultStrides) {
     core::Device device = GetParam();
 
     core::Tensor t0({}, core::Float32, device);
@@ -663,7 +678,7 @@ TEST_P(TensorPermuteDevices, ItemAssign) {
     EXPECT_EQ(t[1][2][3].Item<float>(), 101);
 }
 
-TEST_P(TensorPermuteDevices, ToString) {
+TEST_P(TensorPermuteDevicesWithSYCL, ToString) {
     using ::testing::AnyOf;
     core::Device device = GetParam();
     core::Tensor t;
@@ -738,7 +753,7 @@ TEST_P(TensorPermuteDevices, ToString) {
  [True False False]])");
 }
 
-TEST_P(TensorPermuteDevicePairs, CopyContiguous) {
+TEST_P(TensorPermuteDevicePairsWithSYCL, CopyContiguous) {
     core::Device dst_device;
     core::Device src_device;
     std::tie(dst_device, src_device) = GetParam();
diff --git a/cpp/tests/geometry/TriangleMesh.cpp b/cpp/tests/geometry/TriangleMesh.cpp
index 559330bb2a0..ff6d75f6c8c 100644
--- a/cpp/tests/geometry/TriangleMesh.cpp
+++ b/cpp/tests/geometry/TriangleMesh.cpp
@@ -1843,33 +1843,121 @@ TEST(TriangleMesh, CreateFromPointCloudPoisson) {
             {0.742035, 0.885688, 0.458892}, {0.742035, 0.885688, 0.458892},
             {0.383097, 0.761093, 0.173810}, {0.284898, 0.359292, 0.669062}};
     mesh_gt.triangles_ = {
-            {1, 13, 0},   {0, 14, 2},   {13, 14, 0},  {1, 15, 13},
-            {15, 16, 13}, {1, 3, 15},   {14, 13, 16}, {16, 17, 14},
-            {2, 18, 4},   {14, 18, 2},  {4, 18, 5},   {18, 14, 17},
-            {17, 19, 18}, {18, 19, 6},  {6, 5, 18},   {7, 16, 15},
-            {7, 8, 16},   {8, 20, 16},  {21, 16, 20}, {17, 16, 21},
-            {9, 20, 8},   {10, 20, 9},  {21, 20, 10}, {22, 17, 21},
-            {19, 17, 22}, {19, 22, 11}, {11, 6, 19},  {22, 21, 10},
-            {10, 12, 22}, {11, 22, 12}, {24, 0, 23},  {1, 0, 24},
-            {0, 2, 25},   {25, 23, 0},  {3, 1, 24},   {24, 26, 3},
-            {2, 4, 27},   {27, 25, 2},  {27, 5, 28},  {4, 5, 27},
-            {28, 6, 29},  {5, 6, 28},   {8, 7, 30},   {30, 31, 8},
-            {32, 8, 31},  {9, 8, 32},   {33, 9, 32},  {10, 9, 33},
-            {6, 11, 34},  {34, 29, 6},  {12, 10, 33}, {33, 35, 12},
-            {34, 12, 35}, {11, 12, 34}, {24, 23, 48}, {36, 23, 25},
-            {36, 37, 23}, {37, 48, 23}, {38, 24, 48}, {38, 39, 24},
-            {39, 26, 24}, {39, 49, 26}, {38, 48, 37}, {25, 27, 40},
-            {40, 36, 25}, {27, 28, 41}, {41, 40, 27}, {28, 29, 42},
-            {42, 41, 28}, {39, 30, 49}, {39, 31, 30}, {39, 50, 31},
-            {39, 43, 50}, {44, 50, 43}, {32, 31, 50}, {44, 32, 50},
-            {44, 45, 32}, {45, 33, 32}, {42, 34, 46}, {29, 34, 42},
-            {47, 33, 45}, {35, 33, 47}, {34, 35, 47}, {47, 46, 34},
-            {37, 36, 51}, {39, 38, 52}, {53, 52, 51}, {52, 37, 51},
-            {52, 38, 37}, {36, 40, 54}, {54, 51, 36}, {54, 40, 41},
-            {51, 54, 55}, {55, 53, 51}, {55, 41, 42}, {54, 41, 55},
-            {43, 39, 52}, {56, 52, 53}, {56, 44, 52}, {44, 43, 52},
-            {45, 44, 56}, {56, 55, 57}, {53, 55, 56}, {55, 42, 46},
-            {46, 57, 55}, {45, 56, 57}, {57, 47, 45}, {57, 46, 47}};
+        {1, 13, 0},
+        {0, 14, 2},
+        {13, 14, 0},
+        {1, 15, 13},
+        {15, 16, 13},
+        {1, 3, 15},
+        {14, 13, 16},
+        {16, 17, 14},
+        {2, 18, 4},
+        {14, 18, 2},
+        {4, 18, 5},
+        {18, 14, 17},
+        {17, 19, 18},
+        {18, 19, 6},
+        {6, 5, 18},
+        {7, 16, 15},
+        {7, 8, 16},
+        {8, 20, 16},
+        {21, 16, 20},
+        {17, 16, 21},
+        {9, 20, 8},
+        {10, 20, 9},
+        {21, 20, 10},
+        {22, 17, 21},
+        {19, 17, 22},
+        {19, 22, 11},
+        {11, 6, 19},
+        {22, 21, 10},
+        {10, 12, 22},
+        {11, 22, 12},
+        {24, 0, 23},
+        {1, 0, 24},
+        {0, 2, 25},
+        {25, 23, 0},
+        {3, 1, 24},
+        {24, 26, 3},
+        {2, 4, 27},
+        {27, 25, 2},
+        {27, 5, 28},
+        {4, 5, 27},
+        {28, 6, 29},
+        {5, 6, 28},
+        {8, 7, 30},
+        {30, 31, 8},
+        {32, 8, 31},
+        {9, 8, 32},
+        {33, 9, 32},
+        {10, 9, 33},
+        {6, 11, 34},
+        {34, 29, 6},
+        {12, 10, 33},
+        {33, 35, 12},
+        {34, 12, 35},
+        {11, 12, 34},
+        {24, 23, 48},
+        {36, 23, 25},
+        {36, 37, 23},
+        {37, 48, 23},
+        {38, 24, 48},
+        {38, 39, 24},
+        {39, 26, 24},
+        {39, 49, 26},
+        {38, 48, 37},
+        {25, 27, 40},
+        {40, 36, 25},
+        {27, 28, 41},
+        {41, 40, 27},
+        {28, 29, 42},
+        {42, 41, 28},
+        {39, 30, 49},
+        {39, 31, 30},
+        {39, 50, 31},
+        {39, 43, 50},
+        {44, 50, 43},
+        {32, 31, 50},
+#if defined(__APPLE__) && defined(__arm64__)
+        // Apple Silicon consistently triangulates the vertices differently
+        {44, 45, 50},
+        {45, 32, 50},
+#else
+        {44, 32, 50},
+        {44, 45, 32},
+#endif
+        {45, 33, 32},
+        {42, 34, 46},
+        {29, 34, 42},
+        {47, 33, 45},
+        {35, 33, 47},
+        {34, 35, 47},
+        {47, 46, 34},
+        {37, 36, 51},
+        {39, 38, 52},
+        {53, 52, 51},
+        {52, 37, 51},
+        {52, 38, 37},
+        {36, 40, 54},
+        {54, 51, 36},
+        {54, 40, 41},
+        {51, 54, 55},
+        {55, 53, 51},
+        {55, 41, 42},
+        {54, 41, 55},
+        {43, 39, 52},
+        {56, 52, 53},
+        {56, 44, 52},
+        {44, 43, 52},
+        {45, 44, 56},
+        {56, 55, 57},
+        {53, 55, 56},
+        {55, 42, 46},
+        {46, 57, 55},
+        {45, 56, 57},
+        {57, 47, 45},
+        {57, 46, 47}
+    };
     std::vector<double> densities_gt = {
             0.39865168929100037, 0.32580316066741943, 0.39778709411621094,
             0.2200755625963211,  0.428702175617218,   0.4288075268268585,
@@ -2208,7 +2296,8 @@ TEST(TriangleMesh, CreateMeshCoordinateFrame) {
         indices.push_back(output_tm->triangles_[i](1, 0));
         indices.push_back(output_tm->triangles_[i](2, 0));
     }
-    unique(indices.begin(), indices.end());
+    auto last = unique(indices.begin(), indices.end());
+    indices.erase(last, indices.end());
     sort(indices.begin(), indices.end());
     auto output = output_tm->SelectByIndex(indices);
 
diff --git a/cpp/tests/t/geometry/TriangleMesh.cpp b/cpp/tests/t/geometry/TriangleMesh.cpp
index d1e2d819eac..aa0c75b8b7c 100644
--- a/cpp/tests/t/geometry/TriangleMesh.cpp
+++ b/cpp/tests/t/geometry/TriangleMesh.cpp
@@ -10,6 +10,7 @@
 #include <gmock/gmock.h>
 
 #include "core/CoreTest.h"
+#include "open3d/core/Dtype.h"
 #include "open3d/core/EigenConverter.h"
 #include "open3d/core/TensorCheck.h"
 #include "tests/Tests.h"
@@ -1212,5 +1213,135 @@ TEST_P(TriangleMeshPermuteDevices, SelectByIndex) {
             box_untouched.GetTriangleIndices()));
 }
 
+TEST_P(TriangleMeshPermuteDevices, RemoveUnreferencedVertices) {
+    core::Device device = GetParam();
+    t::geometry::TriangleMesh mesh_empty{device};
+
+    // check completely empty mesh
+    EXPECT_TRUE(mesh_empty.RemoveUnreferencedVertices().IsEmpty());
+
+    // check mesh w/o triangles
+    core::Tensor vertices_no_tris_orig =
+            core::Tensor::Ones({2, 3}, core::Float32, device);
+    mesh_empty.SetVertexPositions(vertices_no_tris_orig);
+    EXPECT_TRUE(mesh_empty.RemoveUnreferencedVertices().IsEmpty());
+
+    // Torus
+    core::Tensor verts = core::Tensor::Init<double>(
+            {
+                    {0, 0, 0}, /* 0 */
+                    {3.0, 0.0, 0.0},
+                    {1.5, 0.0, 0.866025},
+                    {1, 2, 3}, /* 3 */
+                    {1.5, 0.0, -0.866025},
+                    {1.5, 2.59808, 0.0},
+                    {0.75, 1.29904, 0.866025},
+                    {0.75, 1.29904, -0.866025},
+                    {-1.5, 2.59808, 0},
+                    {-0.75, 1.29904, 0.866025},
+                    {-0.75, 1.29904, -0.866025},
+                    {-3.0, 0.0, 0.0},
+                    {-1.5, 0.0, 0.866025},
+                    {-1.5, 0.0, -0.866025},
+                    {-1.5, -2.59808, 0.0},
+                    {-0.75, -1.29904, 0.866025},
+                    {-0.75, -1.29904, -0.866025},
+                    {4, 5, 6}, /* 17 */
+                    {1.5, -2.59808, 0.0},
+                    {0.75, -1.29904, 0.866025},
+                    {0.75, -1.29904, -0.866025},
+                    {7, 8, 9} /* 21 */
+            },
+            device);
+
+    core::Tensor tris = core::Tensor::Init<int32_t>(
+            {{5, 6, 1},    {1, 6, 2},    {6, 7, 2},    {2, 7, 4},
+             {7, 5, 4},    {4, 5, 1},    {8, 9, 5},    {5, 9, 6},
+             {9, 10, 6},   {6, 10, 7},   {10, 8, 7},   {7, 8, 5},
+             {11, 12, 8},  {8, 12, 9},   {12, 13, 9},  {9, 13, 10},
+             {13, 11, 10}, {10, 11, 8},  {14, 15, 11}, {11, 15, 12},
+             {15, 16, 12}, {12, 16, 13}, {16, 14, 13}, {13, 14, 11},
+             {18, 19, 14}, {14, 19, 15}, {19, 20, 15}, {15, 20, 16},
+             {20, 18, 16}, {16, 18, 14}, {1, 2, 18},   {18, 2, 19},
+             {2, 4, 19},   {19, 4, 20},  {4, 1, 20},   {20, 1, 18}},
+            device);
+    t::geometry::TriangleMesh torus{verts, tris};
+    core::Tensor vertex_colors = core::Tensor::Init<float>(
+            {{0.0, 0.0, 0.0},    {1.0, 1.0, 1.0},    {2.0, 2.0, 2.0},
+             {3.0, 3.0, 3.0},    {4.0, 4.0, 4.0},    {5.0, 5.0, 5.0},
+             {6.0, 6.0, 6.0},    {7.0, 7.0, 7.0},    {8.0, 8.0, 8.0},
+             {9.0, 9.0, 9.0},    {10.0, 10.0, 10.0}, {11.0, 11.0, 11.0},
+             {12.0, 12.0, 12.0}, {13.0, 13.0, 13.0}, {14.0, 14.0, 14.0},
+             {15.0, 15.0, 15.0}, {16.0, 16.0, 16.0}, {17.0, 17.0, 17.0},
+             {18.0, 18.0, 18.0}, {19.0, 19.0, 19.0}, {20.0, 20.0, 20.0},
+             {21.0, 21.0, 21.0}},
+            device);
+    core::Tensor vertex_labels =
+            core::Tensor::Init<float>(
+                    {{0.0, 0.0, 0.0},    {1.0, 1.0, 1.0},    {2.0, 2.0, 2.0},
+                     {3.0, 3.0, 3.0},    {4.0, 4.0, 4.0},    {5.0, 5.0, 5.0},
+                     {6.0, 6.0, 6.0},    {7.0, 7.0, 7.0},    {8.0, 8.0, 8.0},
+                     {9.0, 9.0, 9.0},    {10.0, 10.0, 10.0}, {11.0, 11.0, 11.0},
+                     {12.0, 12.0, 12.0}, {13.0, 13.0, 13.0}, {14.0, 14.0, 14.0},
+                     {15.0, 15.0, 15.0}, {16.0, 16.0, 16.0}, {17.0, 17.0, 17.0},
+                     {18.0, 18.0, 18.0}, {19.0, 19.0, 19.0}, {20.0, 20.0, 20.0},
+                     {21.0, 21.0, 21.0}},
+                    device) *
+            10;
+
+    core::Tensor triangle_labels =
+            core::Tensor::Init<float>({{0.0, 0.0, 0.0},    {1.0, 1.0, 1.0},
+                                       {2.0, 2.0, 2.0},    {3.0, 3.0, 3.0},
+                                       {4.0, 4.0, 4.0},    {5.0, 5.0, 5.0},
+                                       {6.0, 6.0, 6.0},    {7.0, 7.0, 7.0},
+                                       {8.0, 8.0, 8.0},    {9.0, 9.0, 9.0},
+                                       {10.0, 10.0, 10.0}, {11.0, 11.0, 11.0},
+                                       {12.0, 12.0, 12.0}, {13.0, 13.0, 13.0},
+                                       {14.0, 14.0, 14.0}, {15.0, 15.0, 15.0},
+                                       {16.0, 16.0, 16.0}, {17.0, 17.0, 17.0},
+                                       {18.0, 18.0, 18.0}, {19.0, 19.0, 19.0},
+                                       {20.0, 20.0, 20.0}, {21.0, 21.0, 21.0},
+                                       {22.0, 22.0, 22.0}, {23.0, 23.0, 23.0},
+                                       {24.0, 24.0, 24.0}, {25.0, 25.0, 25.0},
+                                       {26.0, 26.0, 26.0}, {27.0, 27.0, 27.0},
+                                       {28.0, 28.0, 28.0}, {29.0, 29.0, 29.0},
+                                       {30.0, 30.0, 30.0}, {31.0, 31.0, 31.0},
+                                       {32.0, 32.0, 32.0}, {33.0, 33.0, 33.0},
+                                       {34.0, 34.0, 34.0}, {35.0, 35.0, 35.0}},
+                                      device) *
+            100;
+    torus.SetVertexColors(vertex_colors);
+    torus.SetVertexAttr("labels", vertex_labels);
+    torus.ComputeVertexNormals();
+    torus.ComputeTriangleNormals();
+
+    // set the expected value
+    core::Tensor verts_mask = core::Tensor::Init<bool>(
+            {0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0},
+            device);
+    core::Tensor expected_verts =
+            torus.GetVertexPositions().IndexGet({verts_mask});
+    core::Tensor expected_tris =
+            t::geometry::TriangleMesh::CreateTorus(2, 1, 6, 3, core::Float32,
+                                                   core::Int32, device)
+                    .GetTriangleIndices();
+    core::Tensor expected_vert_normals =
+            torus.GetVertexNormals().IndexGet({verts_mask});
+    core::Tensor expected_tri_normals = torus.GetTriangleNormals().Clone();
+    core::Tensor expected_vert_labels =
+            torus.GetVertexAttr("labels").IndexGet({verts_mask});
+    core::Tensor expected_vert_colors =
+            torus.GetVertexAttr("colors").IndexGet({verts_mask});
+
+    torus.RemoveUnreferencedVertices();
+
+    EXPECT_TRUE(torus.GetVertexPositions().AllClose(expected_verts));
+    EXPECT_TRUE(torus.GetVertexNormals().AllClose(expected_vert_normals));
+    EXPECT_TRUE(torus.GetVertexColors().AllClose(expected_vert_colors));
+    EXPECT_TRUE(torus.GetVertexAttr("labels").AllClose(expected_vert_labels));
+    EXPECT_TRUE(torus.GetTriangleIndices().AllClose(expected_tris));
+    EXPECT_TRUE(torus.GetTriangleNormals().AllClose(expected_tri_normals));
+}
+
 }  // namespace tests
 }  // namespace open3d
diff --git a/docker/Dockerfile.ci b/docker/Dockerfile.ci
index e446353744a..81379352f41 100644
--- a/docker/Dockerfile.ci
+++ b/docker/Dockerfile.ci
@@ -17,6 +17,7 @@ ARG BUILD_TENSORFLOW_OPS
 ARG BUILD_PYTORCH_OPS
 ARG PACKAGE
 ARG BUILD_SYCL_MODULE
+ARG CI
 
 RUN if [ -z "${DEVELOPER_BUILD}"      ]; then echo "Error: ARG DEVELOPER_BUILD      not specified."; exit 1; fi \
  && if [ -z "${CCACHE_TAR_NAME}"      ]; then echo "Error: ARG CCACHE_TAR_NAME      not specified."; exit 1; fi \
@@ -93,7 +94,7 @@ RUN conda --version \
 # Activate open3d virtualenv
 # This works during docker build. It becomes the prefix of all RUN commands.
 # Ref: https://stackoverflow.com/a/60148365/1255535
-SHELL ["conda", "run", "-n", "open3d", "/bin/bash", "-c"]
+SHELL ["conda", "run", "-n", "open3d", "/bin/bash", "-o", "pipefail", "-c"]
 
 # Dependencies: cmake
 ENV PATH=${HOME}/${CMAKE_VERSION}/bin:${PATH}
@@ -210,7 +211,9 @@ RUN \
  && make install-pip-package -j$(nproc) \
  && make install -j$(nproc) \
  && if [ "${PACKAGE}" = "ON" ]; then make package; fi \
- && if [ "${PACKAGE}" = "VIEWER" ]; then make package-Open3DViewer-deb; fi
+ && if [ "${PACKAGE}" = "VIEWER" ]; then make package-Open3DViewer-deb; fi \
+ && if [ "${CI:-}a" != "a" ]; then rm -rf _deps assimp embree ippicv mkl mkl_install webrtc; fi
+# If CI is not null or unset, remove all large build folders to save disk space
 
 # Compress ccache folder, move to / directory
 RUN ccache -s \
diff --git a/docker/Dockerfile.wheel b/docker/Dockerfile.wheel
index 6a7d7080aed..a719262ece2 100644
--- a/docker/Dockerfile.wheel
+++ b/docker/Dockerfile.wheel
@@ -10,6 +10,7 @@ ARG CCACHE_VERSION
 ARG PYTHON_VERSION
 ARG BUILD_TENSORFLOW_OPS
 ARG BUILD_PYTORCH_OPS
+ARG CI
 
 # Forward all ARG to ENV
 # ci_utils.sh requires these environment variables
@@ -130,7 +131,9 @@ WORKDIR /root/Open3D
 RUN export NPROC=$(nproc) \
  && export BUILD_SHARED_LIBS=OFF \
  && source /root/Open3D/util/ci_utils.sh \
- && build_pip_package build_azure_kinect build_jupyter
+ && build_pip_package build_azure_kinect build_jupyter \
+ && if [ ${CI:-}a != a ]; then cd /root/Open3D/build/ && ls | grep -Ev '^lib$' | xargs rm -rf ; fi
+ # remove build folder (except lib) to save CI space on Github
 
 # Compress ccache folder, move to / directory
 RUN ccache -s \
diff --git a/docker/docker_build.sh b/docker/docker_build.sh
index 33ab6ad0115..f55276baed5 100755
--- a/docker/docker_build.sh
+++ b/docker/docker_build.sh
@@ -207,6 +207,7 @@ cuda_wheel_build() {
         --build-arg PYTHON_VERSION="${PYTHON_VERSION}" \
         --build-arg BUILD_TENSORFLOW_OPS="${BUILD_TENSORFLOW_OPS}" \
         --build-arg BUILD_PYTORCH_OPS="${BUILD_PYTORCH_OPS}" \
+        --build-arg CI="${CI:-}" \
         -t open3d-ci:wheel \
         -f docker/Dockerfile.wheel .
     popd
@@ -249,6 +250,7 @@ ci_build() {
         --build-arg BUILD_PYTORCH_OPS="${BUILD_PYTORCH_OPS}" \
         --build-arg PACKAGE="${PACKAGE}" \
         --build-arg BUILD_SYCL_MODULE="${BUILD_SYCL_MODULE}" \
+        --build-arg CI="${CI:-}" \
         -t "${DOCKER_TAG}" \
         -f docker/Dockerfile.ci .
     popd
diff --git a/docs/getting_started.in.rst b/docs/getting_started.in.rst
index b9f390ea835..a2aa5a745ee 100644
--- a/docs/getting_started.in.rst
+++ b/docs/getting_started.in.rst
@@ -5,6 +5,21 @@ Getting started
 
 .. _install_open3d_python:
 
+Viewer
+======
+
+Use the Open3D viewer application to visualize 3D data in various formats and
+interact with it.  You can download the latest stable release app from `Github
+releases <https://github.com/isl-org/Open3D/releases>`__. The latest development
+version (``HEAD`` of ``main`` branch) viewer app is provided here [#]_:
+
+* `Linux (Ubuntu 18.04+ or glibc 2.27+) <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-viewer-@OPEN3D_VERSION_FULL@-Linux.deb>`__ [#]_
+* `MacOSX v10.15+ (Intel or Apple Silicon) <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-@OPEN3D_VERSION_FULL@-app-macosx-10_15-universal2.zip>`__
+* `Windows 10+ (64-bit) <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-@OPEN3D_VERSION_FULL@-app-windows-amd64.zip>`__
+
+.. [#] Please use these links from the `latest version of this page <https://www.open3d.org/docs/latest/getting_started.html>`__ only.
+.. [#] To check the `glibc` version on your system, run :code:`ldd --version`.
+
 Python
 ======
 
@@ -70,28 +85,28 @@ version (``HEAD`` of ``main`` branch):
     :widths: auto
 
     * - Linux
-      - `Python 3.8 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp38-cp38-manylinux_2_27_x86_64.whl>`__
-      - `Python 3.9 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp39-cp39-manylinux_2_27_x86_64.whl>`__
-      - `Python 3.10 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp310-cp310-manylinux_2_27_x86_64.whl>`__
-      - `Python 3.11 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp311-cp311-manylinux_2_27_x86_64.whl>`__
+      - `Python 3.8 <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-@OPEN3D_VERSION_FULL@-cp38-cp38-manylinux_2_27_x86_64.whl>`__
+      - `Python 3.9 <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-@OPEN3D_VERSION_FULL@-cp39-cp39-manylinux_2_27_x86_64.whl>`__
+      - `Python 3.10 <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-@OPEN3D_VERSION_FULL@-cp310-cp310-manylinux_2_27_x86_64.whl>`__
+      - `Python 3.11 <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-@OPEN3D_VERSION_FULL@-cp311-cp311-manylinux_2_27_x86_64.whl>`__
 
     * - Linux (CPU)
-      - `Python 3.8 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d_cpu-@OPEN3D_VERSION_FULL@-cp38-cp38-manylinux_2_27_x86_64.whl>`__
-      - `Python 3.9 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d_cpu-@OPEN3D_VERSION_FULL@-cp39-cp39-manylinux_2_27_x86_64.whl>`__
-      - `Python 3.10 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d_cpu-@OPEN3D_VERSION_FULL@-cp310-cp310-manylinux_2_27_x86_64.whl>`__
-      - `Python 3.11 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d_cpu-@OPEN3D_VERSION_FULL@-cp311-cp311-manylinux_2_27_x86_64.whl>`__
+      - `Python 3.8 <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d_cpu-@OPEN3D_VERSION_FULL@-cp38-cp38-manylinux_2_27_x86_64.whl>`__
+      - `Python 3.9 <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d_cpu-@OPEN3D_VERSION_FULL@-cp39-cp39-manylinux_2_27_x86_64.whl>`__
+      - `Python 3.10 <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d_cpu-@OPEN3D_VERSION_FULL@-cp310-cp310-manylinux_2_27_x86_64.whl>`__
+      - `Python 3.11 <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d_cpu-@OPEN3D_VERSION_FULL@-cp311-cp311-manylinux_2_27_x86_64.whl>`__
 
     * - MacOS
-      - `Python 3.8 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp38-cp38-macosx_11_0_x86_64.whl>`__
-      - `Python 3.9 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp39-cp39-macosx_11_0_x86_64.whl>`__
-      - `Python 3.10 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp310-cp310-macosx_11_0_x86_64.whl>`__
-      - `Python 3.11 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp311-cp311-macosx_10_15_universal2.whl>`__
+      - `Python 3.8 (x86_64) <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-@OPEN3D_VERSION_FULL@-cp38-cp38-macosx_11_0_x86_64.whl>`__
+      - `Python 3.9 (x86_64) <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-@OPEN3D_VERSION_FULL@-cp39-cp39-macosx_11_0_x86_64.whl>`__
+      - `Python 3.10 (x86_64+arm64) <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-@OPEN3D_VERSION_FULL@-cp310-cp310-macosx_11_0_universal2.whl>`__
+      - `Python 3.11 (x86_64+arm64) <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-@OPEN3D_VERSION_FULL@-cp311-cp311-macosx_10_15_universal2.whl>`__
 
     * - Windows
-      - `Python 3.8 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp38-cp38-win_amd64.whl>`__
-      - `Python 3.9 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp39-cp39-win_amd64.whl>`__
-      - `Python 3.10 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp310-cp310-win_amd64.whl>`__
-      - `Python 3.11 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp311-cp311-win_amd64.whl>`__
+      - `Python 3.8 <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-@OPEN3D_VERSION_FULL@-cp38-cp38-win_amd64.whl>`__
+      - `Python 3.9 <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-@OPEN3D_VERSION_FULL@-cp39-cp39-win_amd64.whl>`__
+      - `Python 3.10 <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-@OPEN3D_VERSION_FULL@-cp310-cp310-win_amd64.whl>`__
+      - `Python 3.11 <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-@OPEN3D_VERSION_FULL@-cp311-cp311-win_amd64.whl>`__
 
 Please use these links from the `latest version of this page
 <https://www.open3d.org/docs/latest/getting_started.html>`__ only. You can also
@@ -162,23 +177,24 @@ available for the main supported platforms. Also, the latest development version
     .. hlist::
         :columns: 2
 
-        * `x86_64 (CXX11 ABI) <https://storage.googleapis.com/open3d-releases/devel/open3d-devel-linux-x86_64-cxx11-abi-@OPEN3D_VERSION_FULL@.tar.xz>`__
-        * `x86_64 (CXX11 ABI) with CUDA 11.x <https://storage.googleapis.com/open3d-releases/devel/open3d-devel-linux-x86_64-cxx11-abi-cuda-@OPEN3D_VERSION_FULL@.tar.xz>`__
-        * `x86_64 (pre CXX11 ABI) <https://storage.googleapis.com/open3d-releases/devel/open3d-devel-linux-x86_64-pre-cxx11-abi-@OPEN3D_VERSION_FULL@.tar.xz>`__
-        * `x86_64 (pre CXX11 ABI) with CUDA 11.x <https://storage.googleapis.com/open3d-releases/devel/open3d-devel-linux-x86_64-pre-cxx11-abi-cuda-@OPEN3D_VERSION_FULL@.tar.xz>`__
+        * `x86_64 (CXX11 ABI) <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-devel-linux-x86_64-cxx11-abi-@OPEN3D_VERSION_FULL@.tar.xz>`__
+        * `x86_64 (CXX11 ABI) with CUDA 11.x <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-devel-linux-x86_64-cxx11-abi-cuda-@OPEN3D_VERSION_FULL@.tar.xz>`__
+        * `x86_64 (pre CXX11 ABI) <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-devel-linux-x86_64-pre-cxx11-abi-@OPEN3D_VERSION_FULL@.tar.xz>`__
+        * `x86_64 (pre CXX11 ABI) with CUDA 11.x <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-devel-linux-x86_64-pre-cxx11-abi-cuda-@OPEN3D_VERSION_FULL@.tar.xz>`__
 
 :MacOSX v10.15+:
     .. hlist::
         :columns: 2
 
-        * `x86_64 <https://storage.googleapis.com/open3d-releases/devel/open3d-devel-darwin-x86_64-@OPEN3D_VERSION_FULL@.tar.xz>`__
+        * `x86_64 <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-devel-darwin-x86_64-@OPEN3D_VERSION_FULL@.tar.xz>`__
+        * `arm64 <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-devel-darwin-arm64-@OPEN3D_VERSION_FULL@.tar.xz>`__
 
 :Windows 10+:
     .. hlist::
         :columns: 2
 
-        * `x86_64 Release <https://storage.googleapis.com/open3d-releases/devel/open3d-devel-windows-amd64-@OPEN3D_VERSION_FULL@.zip>`__
-        * `x86_64 Debug <https://storage.googleapis.com/open3d-releases/devel/open3d-devel-windows-amd64-@OPEN3D_VERSION_FULL@-dbg.zip>`__
+        * `x86_64 Release <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-devel-windows-amd64-@OPEN3D_VERSION_FULL@.zip>`__
+        * `x86_64 Debug <https://github.com/isl-org/Open3D/releases/download/devel-main/open3d-devel-windows-amd64-@OPEN3D_VERSION_FULL@-dbg.zip>`__
 
 .. [#] Please use these links from the `latest version of this page <https://www.open3d.org/docs/latest/getting_started.html>`__
     only.
diff --git a/docs/requirements.txt b/docs/requirements.txt
index 299c15f5a84..a974fc66a1d 100644
--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@@ -4,4 +4,6 @@ jinja2==3.1.3
 m2r2==0.3.3.post2
 matplotlib==3.7.3
 nbsphinx==0.9.3
-sphinx==7.1.2
\ No newline at end of file
+sphinx==7.1.2
+nbconvert==6.5.4
+lxml[html_clean]==5.2.1
diff --git a/examples/python/reconstruction_system/color_map_optimization_for_reconstruction_system.py b/examples/python/reconstruction_system/color_map_optimization_for_reconstruction_system.py
index 173f6f52c22..088ec51818a 100644
--- a/examples/python/reconstruction_system/color_map_optimization_for_reconstruction_system.py
+++ b/examples/python/reconstruction_system/color_map_optimization_for_reconstruction_system.py
@@ -14,6 +14,7 @@
 pyexample_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
 sys.path.append(pyexample_path)
 from open3d_example import *
+from initialize_config import initialize_config
 
 
 def parse_keys(filename):
diff --git a/examples/python/reconstruction_system/make_fragments.py b/examples/python/reconstruction_system/make_fragments.py
index dc4e59d0780..5af9d960f4b 100644
--- a/examples/python/reconstruction_system/make_fragments.py
+++ b/examples/python/reconstruction_system/make_fragments.py
@@ -139,7 +139,11 @@ def make_pointcloud_for_fragment(path_dataset, color_files, depth_files,
     pcd.colors = mesh.vertex_colors
     pcd_name = join(path_dataset,
                     config["template_fragment_pointcloud"] % fragment_id)
-    o3d.io.write_point_cloud(pcd_name, pcd, False, True)
+    o3d.io.write_point_cloud(pcd_name,
+                             pcd,
+                             format='auto',
+                             write_ascii=False,
+                             compressed=True)
 
 
 def process_single_fragment(fragment_id, color_files, depth_files, n_files,
diff --git a/examples/python/visualization/customized_visualization_key_action.py b/examples/python/visualization/customized_visualization_key_action.py
index 9f885615e4e..c68e2f1110f 100644
--- a/examples/python/visualization/customized_visualization_key_action.py
+++ b/examples/python/visualization/customized_visualization_key_action.py
@@ -41,11 +41,45 @@ def animation_callback(vis):
     vis.run()
 
 
+def custom_mouse_action(pcd):
+
+    vis = o3d.visualization.VisualizerWithKeyCallback()
+    buttons = ['left', 'right', 'middle']
+    actions = ['up', 'down']
+    mods_name = ['shift', 'ctrl', 'alt', 'cmd']
+
+    def on_key_action(vis, action, mods):
+        print("on_key_action", action, mods)
+
+    vis.register_key_action_callback(ord("A"), on_key_action)
+
+    def on_mouse_move(vis, x, y):
+        print(f"on_mouse_move({x:.2f}, {y:.2f})")
+
+    def on_mouse_scroll(vis, x, y):
+        print(f"on_mouse_scroll({x:.2f}, {y:.2f})")
+
+    def on_mouse_button(vis, button, action, mods):
+        pressed_mods = " ".join(
+            [mods_name[i] for i in range(4) if mods & (1 << i)])
+        print(f"on_mouse_button: {buttons[button]}, {actions[action]}, " +
+              pressed_mods)
+
+    vis.register_mouse_move_callback(on_mouse_move)
+    vis.register_mouse_scroll_callback(on_mouse_scroll)
+    vis.register_mouse_button_callback(on_mouse_button)
+
+    vis.create_window()
+    vis.add_geometry(pcd)
+    vis.run()
+
+
 if __name__ == "__main__":
     ply_data = o3d.data.PLYPointCloud()
     pcd = o3d.io.read_point_cloud(ply_data.path)
 
-    print(
-        "Customized visualization with smooth key action (without keyboard repeat delay)"
-    )
+    print("Customized visualization with smooth key action "
+          "(without keyboard repeat delay). Press the space-bar.")
     custom_key_action_without_kb_repeat_delay(pcd)
+    print("Customized visualization with mouse action.")
+    custom_mouse_action(pcd)
diff --git a/examples/python/visualization/demo_scene.py b/examples/python/visualization/demo_scene.py
index cfb5d3d2393..b0662feadc7 100644
--- a/examples/python/visualization/demo_scene.py
+++ b/examples/python/visualization/demo_scene.py
@@ -6,33 +6,15 @@
 # ----------------------------------------------------------------------------
 """Demo scene demonstrating models, built-in shapes, and materials"""
 
-import math
 import numpy as np
-import os
 import open3d as o3d
 import open3d.visualization as vis
 
 
-def convert_material_record(mat_record):
-    mat = vis.Material('defaultLit')
-    # Convert scalar parameters
-    mat.vector_properties['base_color'] = mat_record.base_color
-    mat.scalar_properties['metallic'] = mat_record.base_metallic
-    mat.scalar_properties['roughness'] = mat_record.base_roughness
-    mat.scalar_properties['reflectance'] = mat_record.base_reflectance
-    mat.texture_maps['albedo'] = o3d.t.geometry.Image.from_legacy(
-        mat_record.albedo_img)
-    mat.texture_maps['normal'] = o3d.t.geometry.Image.from_legacy(
-        mat_record.normal_img)
-    mat.texture_maps['ao_rough_metal'] = o3d.t.geometry.Image.from_legacy(
-        mat_record.ao_rough_metal_img)
-    return mat
-
-
 def create_scene():
-    '''
-    Creates the geometry and materials for the demo scene and returns a dictionary suitable for draw call
-    '''
+    """Creates the geometry and materials for the demo scene and returns a
+    dictionary suitable for draw call
+    """
     # Create some shapes for our scene
     a_cube = o3d.geometry.TriangleMesh.create_box(2,
                                                   4,
@@ -47,7 +29,7 @@ def create_scene():
                                                        resolution=40,
                                                        create_uv_map=True)
     a_sphere.compute_vertex_normals()
-    rotate_90 = o3d.geometry.get_rotation_matrix_from_xyz((-math.pi / 2, 0, 0))
+    rotate_90 = o3d.geometry.get_rotation_matrix_from_xyz((-np.pi / 2, 0, 0))
     a_sphere.rotate(rotate_90)
     a_sphere.translate((5, 2.4, 0))
     a_sphere = o3d.t.geometry.TriangleMesh.from_legacy(a_sphere)
@@ -68,17 +50,13 @@ def create_scene():
     # Load an OBJ model for our scene
     helmet_data = o3d.data.FlightHelmetModel()
     helmet = o3d.io.read_triangle_model(helmet_data.path)
-    helmet_parts = []
-    for m in helmet.meshes:
-        # m.mesh.paint_uniform_color((1.0, 0.75, 0.3))
-        m.mesh.scale(10.0, (0.0, 0.0, 0.0))
-        helmet_parts.append(m)
+    helmet_parts = o3d.t.geometry.TriangleMesh.from_triangle_mesh_model(helmet)
 
     # Create a ground plane
     ground_plane = o3d.geometry.TriangleMesh.create_box(
         50.0, 0.1, 50.0, create_uv_map=True, map_texture_to_each_face=True)
     ground_plane.compute_triangle_normals()
-    rotate_180 = o3d.geometry.get_rotation_matrix_from_xyz((-math.pi, 0, 0))
+    rotate_180 = o3d.geometry.get_rotation_matrix_from_xyz((-np.pi, 0, 0))
     ground_plane.rotate(rotate_180)
     ground_plane.translate((-25.0, -0.1, -25.0))
     ground_plane.paint_uniform_color((1, 1, 1))
@@ -157,12 +135,11 @@ def create_scene():
         "geometry": a_sphere
     }]
     # Load the helmet
-    for part in helmet_parts:
-        name = part.mesh_name
-        tgeom = o3d.t.geometry.TriangleMesh.from_legacy(part.mesh)
-        tgeom.material = convert_material_record(
-            helmet.materials[part.material_idx])
-        geoms.append({"name": name, "geometry": tgeom})
+    for name, tmesh in helmet_parts.items():
+        geoms.append({
+            "name": name,
+            "geometry": tmesh.scale(10.0, (0.0, 0.0, 0.0))
+        })
     return geoms
 
 
diff --git a/python/setup.py b/python/setup.py
index 029c5717180..e32f69ab615 100644
--- a/python/setup.py
+++ b/python/setup.py
@@ -70,6 +70,11 @@ def get_tag(self):
             libc.gnu_get_libc_version.restype = ctypes.c_char_p
             GLIBC_VER = libc.gnu_get_libc_version().decode("utf8").split(".")
             plat = f"manylinux_{GLIBC_VER[0]}_{GLIBC_VER[1]}{plat[5:]}"
+        elif plat[:6] == "macosx":
+            # If the Python interpreter is an universal2 app the resulting wheel is tagged as
+            # universal2 instead of the current architecture. This is a workaround to fix it.
+            plat = plat.replace("universal2", platform.machine())
+
         return python, abi, plat
 
 
diff --git a/python/test/ml_ops/test_radius_search.py b/python/test/ml_ops/test_radius_search.py
index 85b2af0ad0d..b799b2c7602 100644
--- a/python/test/ml_ops/test_radius_search.py
+++ b/python/test/ml_ops/test_radius_search.py
@@ -103,7 +103,7 @@ def test_radius_search(dtype, ml, num_points_queries, metric,
                     if normalize_distances:
                         gt_dist /= radii[i]
 
-                np.testing.assert_allclose(dist, gt_dist, rtol=1e-7, atol=1e-8)
+                np.testing.assert_allclose(dist, gt_dist, rtol=1e-7, atol=1e-7)
 
 
 @mltest.parametrize.ml_cpu_only
@@ -236,4 +236,4 @@ def test_radius_search_batches(ml, batch_size):
                     if normalize_distances:
                         gt_dist /= radii[i]
 
-                np.testing.assert_allclose(dist, gt_dist, rtol=1e-7, atol=1e-8)
+                np.testing.assert_allclose(dist, gt_dist, rtol=1e-7, atol=1e-7)
diff --git a/python/test/t/geometry/test_trianglemesh.py b/python/test/t/geometry/test_trianglemesh.py
index 4ca8d5e98ab..0eec5b3a4e5 100644
--- a/python/test/t/geometry/test_trianglemesh.py
+++ b/python/test/t/geometry/test_trianglemesh.py
@@ -660,3 +660,52 @@ def test_select_by_index_64(device):
         untouched_sphere.vertex.positions)
     assert sphere_custom.triangle.indices.allclose(
         untouched_sphere.triangle.indices)
+
+
+def check_no_unreferenced_vertices(device, int_t, float_t):
+    sphere = o3d.t.geometry.TriangleMesh.create_sphere(1, 3, float_t, int_t,
+                                                       device)
+    expected_sphere = o3d.t.geometry.TriangleMesh.create_sphere(
+        1, 3, float_t, int_t, device)
+
+    sphere.remove_unreferenced_vertices()
+
+    # nothing should be removed
+    assert sphere.vertex.positions.allclose(expected_sphere.vertex.positions)
+    assert sphere.triangle.indices.allclose(expected_sphere.triangle.indices)
+
+
+def check_remove_unreferenced_vertices(device, int_t, float_t):
+    expected_mobius = o3d.t.geometry.TriangleMesh.create_mobius(
+        10, 2, 1, 1, 1, 1, 1, float_t, int_t, device)
+
+    verts = o3c.Tensor(
+        [[0.5, 0.0, 0.0], [1.5, 0.0, 0.0], [0.424307, 0.308277, -0.154508],
+         [1.19373, 0.867294, 0.154508], [0.184017, 0.566346, -0.293893],
+         [0.434017, 1.33577, 0.293893], [-0.218199, 0.671548, -0.404508],
+         [-0.399835, 1.23057, 0.404508], [-0.684017, 0.496967, -0.475528],
+         [-0.934017, 0.678603, 0.475528], [-1.0, 0.0, -0.5], [-1.0, 0.0, 0.5],
+         [-0.934017, -0.678603, -0.475528], [-0.684017, -0.496967, 0.475528],
+         [-0.399835, -1.23057, -0.404508], [-0.218199, -0.671548, 0.404508],
+         [0.434017, -1.33577, -0.293893], [0.184017, -0.566346, 0.293893],
+         [0, 0, 0], [1.19373, -0.867294, -0.154508], [1, 1, 1],
+         [0.424307, -0.308277, 0.154508]], float_t, device)
+
+    tris = o3c.Tensor(
+        [[0, 3, 1], [0, 2, 3], [3, 2, 4], [3, 4, 5], [4, 7, 5], [4, 6, 7],
+         [7, 6, 8], [7, 8, 9], [8, 11, 9], [8, 10, 11], [11, 10, 12],
+         [11, 12, 13], [12, 15, 13], [12, 14, 15], [15, 14, 16], [15, 16, 17],
+         [16, 21, 17], [16, 19, 21], [19, 21, 1], [1, 21, 0]], int_t, device)
+
+    mobius = o3d.t.geometry.TriangleMesh(verts, tris)
+    mobius.remove_unreferenced_vertices()
+    assert mobius.vertex.positions.allclose(expected_mobius.vertex.positions)
+    assert mobius.triangle.indices.allclose(expected_mobius.triangle.indices)
+
+
+@pytest.mark.parametrize("device", list_devices())
+@pytest.mark.parametrize("int_t", (o3c.int32, o3c.int64))
+@pytest.mark.parametrize("float_t", (o3c.float32, o3c.float64))
+def test_remove_unreferenced_vertices(device, int_t, float_t):
+    check_no_unreferenced_vertices(device, int_t, float_t)
+    check_remove_unreferenced_vertices(device, int_t, float_t)
diff --git a/util/ci_utils.sh b/util/ci_utils.sh
index 38ff654880e..aa30d2c12ad 100644
--- a/util/ci_utils.sh
+++ b/util/ci_utils.sh
@@ -55,8 +55,14 @@ install_python_dependencies() {
         TF_ARCH_DISABLE_NAME=tensorflow-cpu
         TORCH_GLNX="torch==$TORCH_CUDA_GLNX_VER"
     else
-        TF_ARCH_NAME=tensorflow-cpu
-        TF_ARCH_DISABLE_NAME=tensorflow
+        # tensorflow-cpu wheels for macOS arm64 are not available
+        if [[ "$OSTYPE" == "darwin"* ]]; then
+            TF_ARCH_NAME=tensorflow
+            TF_ARCH_DISABLE_NAME=tensorflow
+        else
+            TF_ARCH_NAME=tensorflow-cpu
+            TF_ARCH_DISABLE_NAME=tensorflow
+        fi
         TORCH_GLNX="torch==$TORCH_CPU_GLNX_VER"
     fi