diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
index d2bdd56e9f5..40894774db1 100644
--- a/.github/workflows/macos.yml
+++ b/.github/workflows/macos.yml
@@ -33,9 +33,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        # macos-13 is Intel runner, macos-14 is Apple Silicon
-        # https://github.com/actions/runner-images
-        os: [macos-13, macos-14]
+        os: [macos-14]
         CONFIG: [ON, OFF]
     env:
       BUILD_SHARED_LIBS: ${{ matrix.CONFIG }}
@@ -133,50 +131,6 @@ jobs:
           path: build/bin/open3d-*-app-macosx-10_15-${{ runner.arch }}.zip
           if-no-files-found: error
 
-  fuse-viewer:
-    permissions:
-      contents: write  # Release upload
-    name: Fuse x64 and ARM64 viewer app
-    runs-on: [macos-13]
-    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:
-          pattern: open3d-app-macosx-10_15-*
-          merge-multiple: true
-
-      - name: Fuse x64 and arm64 viewer apps
-        run: |
-          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@v4
-        with:
-          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
     permissions:
@@ -186,9 +140,7 @@ jobs:
       fail-fast: false
       # https://github.community/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6
       matrix:
-        # macos-13 is Intel runner, macos-14 is Apple Silicon
-        # https://github.com/actions/runner-images
-        os: [macos-13, macos-14]
+        os: [macos-14]
         python_version: ['3.10', '3.11', '3.12', '3.13']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
@@ -283,75 +235,6 @@ jobs:
           path: build/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }}
           if-no-files-found: error
 
-
-  fuse-wheel:
-    name: Fuse universal2 wheel
-    permissions:
-      contents: write  # Release upload
-    runs-on: [macos-13]
-    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', '3.12', '3.13']
-        is_main:
-          - ${{ github.ref == 'refs/heads/main' }}
-        exclude:
-          - is_main: false
-            python_version: '3.10'
-          - is_main: false
-            python_version: '3.11'
-          - is_main: false
-            python_version: '3.12'
-    steps:
-      - name: Checkout source code  # for gh release upload
-        uses: actions/checkout@v4
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: ${{ matrix.python_version }}
-
-      - name: Download X64 wheels
-        uses: actions/download-artifact@v4
-        with:
-          pattern: open3d-*macosx*_x86_64.whl
-          path: x64_wheels
-          merge-multiple: true
-
-      - 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 ${{ env.python_version }} | tr -d '.')"
-          mkdir universal_wheels
-          pip install delocate
-          delocate-merge -v -w universal_wheels x64_wheels/open3d-*${PYTAG}*.whl arm64_wheels/open3d-*${PYTAG}*.whl
-          NEW_WHL_NAME=$(basename universal_wheels/open3d-*${PYTAG}*.whl)
-          echo "PIP_PKG_NAME=$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
     permissions:
@@ -361,7 +244,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [macos-13, macos-14]
+        os: [macos-14]
         python_version: ['3.10', '3.11', '3.12', '3.13']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
diff --git a/.github/workflows/ubuntu-sycl.yml b/.github/workflows/ubuntu-sycl.yml
index fe4132abffc..f4ce0af8aa4 100644
--- a/.github/workflows/ubuntu-sycl.yml
+++ b/.github/workflows/ubuntu-sycl.yml
@@ -69,7 +69,7 @@ jobs:
           GH_TOKEN: ${{ github.token }}
         run: |
           if [ ${{ matrix.BUILD_SHARED_LIBS }} == 'ON' ] ; then
-            gh release upload main-devel open3d-*.whl --clobber
+            gh release upload main-devel open3d*.whl --clobber
             gh release upload main-devel open3d-devel-*.tar.xz --clobber
           fi
           gh release view main-devel
diff --git a/.github/workflows/ubuntu-wheel.yml b/.github/workflows/ubuntu-wheel.yml
index 73ce681fd18..c333f565605 100644
--- a/.github/workflows/ubuntu-wheel.yml
+++ b/.github/workflows/ubuntu-wheel.yml
@@ -46,7 +46,7 @@ jobs:
     env:
       DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }}
       PYTHON_VERSION: ${{ matrix.python_version }}
-      CCACHE_TAR_NAME: open3d-ubuntu-2004-cuda-ci-ccache
+      CCACHE_TAR_NAME: open3d-ubuntu-2204-cuda-ci-ccache
       OPEN3D_CPU_RENDERING: true
     steps:
       - name: Checkout source code
@@ -90,6 +90,14 @@ jobs:
             ${{ env.PIP_PKG_NAME }}
             ${{ env.PIP_CPU_PKG_NAME }}
           if-no-files-found: error
+      - name: Update devel release
+        if: ${{ github.ref == 'refs/heads/main' }}
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          gh release upload main-devel ${GITHUB_WORKSPACE}/${{ env.PIP_PKG_NAME }} \
+          ${GITHUB_WORKSPACE}/${{ env.PIP_CPU_PKG_NAME }} --clobber
+          gh release view main-devel
       - name: GCloud CLI auth
         if: ${{ github.ref == 'refs/heads/main' }}
         uses: 'google-github-actions/auth@v2'
@@ -106,14 +114,6 @@ jobs:
         if: ${{ github.ref == 'refs/heads/main' }}
         run: |
           gsutil cp ${GITHUB_WORKSPACE}/${{ env.CCACHE_TAR_NAME }}.tar.xz gs://open3d-ci-cache/
-      - name: Update devel release
-        if: ${{ github.ref == 'refs/heads/main' }}
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          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
diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index 765abfd21b8..b68e8814dc2 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -98,7 +98,7 @@ jobs:
       - name: Set up Python version
         uses: actions/setup-python@v5
         with:
-          python-version: '3.10'
+          python-version: '3.12'
 
       - name: Checkout Open3D-ML
         uses: actions/checkout@v4
@@ -111,7 +111,7 @@ jobs:
         run: |
           if ( '${{ matrix.BUILD_CUDA_MODULE }}' -eq 'ON' ) {
             # python -m pip install -r open3d_ml/requirements-torch-cuda.txt
-            python -m pip install torch torchvision --index-url https://download.pytorch.org/whl/cu124
+            python -m pip install torch torchvision --index-url https://download.pytorch.org/whl/cu126
           } else {
             python -m pip install -r open3d_ml/requirements-torch.txt
           }
diff --git a/3rdparty/filament/filament_build.cmake b/3rdparty/filament/filament_build.cmake
index 432f55a28c0..7c0e4d7a06c 100644
--- a/3rdparty/filament/filament_build.cmake
+++ b/3rdparty/filament/filament_build.cmake
@@ -13,20 +13,21 @@ if(NOT is_multi_config)
 endif()
 
 set(filament_LIBRARIES
-    filameshio
-    filament
-    filamat_lite
-    filamat
-    filaflat
-    filabridge
-    geometry
-    backend
-    bluegl
-    ibl
-    image
-    meshoptimizer
-    smol-v
-    utils
+        filameshio
+        filament
+        filaflat
+        filabridge
+        geometry
+        backend
+        bluegl
+        bluevk
+        ibl
+        image
+        ktxreader
+        meshoptimizer
+        smol-v
+        utils
+        vkshaders
 )
 
 # Locate byproducts
@@ -43,7 +44,7 @@ set(lib_byproducts ${filament_LIBRARIES})
 list(TRANSFORM lib_byproducts PREPEND ${FILAMENT_ROOT}/${lib_dir}/${CMAKE_STATIC_LIBRARY_PREFIX})
 list(TRANSFORM lib_byproducts APPEND ${CMAKE_STATIC_LIBRARY_SUFFIX})
 
-set(filament_cxx_flags "${CMAKE_CXX_FLAGS} -Wno-deprecated")
+set(filament_cxx_flags "${CMAKE_CXX_FLAGS} -Wno-deprecated" "-Wno-pass-failed=transform-warning" "-Wno-error=nonnull")
 if(NOT WIN32)
     # Issue Open3D#1909, filament#2146
     set(filament_cxx_flags "${filament_cxx_flags} -fno-builtin")
@@ -52,8 +53,8 @@ endif()
 ExternalProject_Add(
     ext_filament
     PREFIX filament
-    URL https://github.com/isl-org/filament/archive/d1d873d27f43ba0cee1674a555cc0f18daac3008.tar.gz
-    URL_HASH SHA256=00c3f41af0fcfb2df904e1f77934f2678d943ddac5eb889788a5e22590e497bd
+    URL https://github.com/google/filament/archive/refs/tags/v1.54.0.tar.gz
+    URL_HASH SHA256=f4cb4eb81e3a5d66a9612ac131d16183e118b694f4f34c051506c523a8389e8d
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/filament"
     UPDATE_COMMAND ""
     CMAKE_ARGS
@@ -69,9 +70,9 @@ ExternalProject_Add(
         -DCMAKE_INSTALL_PREFIX=${FILAMENT_ROOT}
         -DUSE_STATIC_CRT=${STATIC_WINDOWS_RUNTIME}
         -DUSE_STATIC_LIBCXX=ON
-        -DFILAMENT_SUPPORTS_VULKAN=OFF
+        -DFILAMENT_SKIP_SDL2=ON
         -DFILAMENT_SKIP_SAMPLES=ON
         -DFILAMENT_OPENGL_HANDLE_ARENA_SIZE_IN_MB=20 # to support many small entities
         -DSPIRV_WERROR=OFF
-    BUILD_BYPRODUCTS ${lib_byproducts}
-)
+        BUILD_BYPRODUCTS ${lib_byproducts}
+)
\ No newline at end of file
diff --git a/3rdparty/filament/filament_download.cmake b/3rdparty/filament/filament_download.cmake
index f21cc91c31b..5cac69ab9bb 100644
--- a/3rdparty/filament/filament_download.cmake
+++ b/3rdparty/filament/filament_download.cmake
@@ -1,6 +1,6 @@
 include(FetchContent)
 
-set(filament_LIBRARIES filameshio filament filamat_lite filaflat filabridge geometry backend bluegl bluevk ibl image meshoptimizer smol-v utils vkshaders)
+set(filament_LIBRARIES filameshio filament filaflat filabridge geometry backend bluegl bluevk ibl image ktxreader meshoptimizer smol-v utils vkshaders)
 
 if (FILAMENT_PRECOMPILED_ROOT)
     if (EXISTS "${FILAMENT_PRECOMPILED_ROOT}")
@@ -13,51 +13,38 @@ else()
     set(lib_dir lib)
     # Setup download links
     if(WIN32)
-        set(FILAMENT_URL https://github.com/google/filament/releases/download/v1.9.9/filament-v1.9.9-windows.tgz)
-        set(FILAMENT_SHA256 3a937a54a0c6b693c833737878761f8ba8ee02744be3c2f9ec33b1c6399ba31b)
-        # Required for filament v1.9.9
-        # Older versions of filament do not contain vkshaders.
-        # They also have a different directory structure.
-        # Remove vkshaders here so we can use newer versions with FILAMENT_PRECOMPILED_ROOT.
-        list(REMOVE_ITEM filament_LIBRARIES vkshaders)
+        set(FILAMENT_URL https://github.com/google/filament/releases/download/v1.54.0/filament-v1.54.0-windows.tgz)
+        set(FILAMENT_SHA256 370b85dbaf1a3be26a5a80f60c912f11887748ddd1c42796a83fe989f5805f7b)
         if (STATIC_WINDOWS_RUNTIME)
             string(APPEND lib_dir /x86_64/mt)
         else()
             string(APPEND lib_dir /x86_64/md)
         endif()
     elseif(APPLE)
-        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()
+        set(FILAMENT_URL https://github.com/google/filament/releases/download/v1.54.0/filament-v1.54.0-mac.tgz)
+        set(FILAMENT_SHA256 9b71642bd697075110579ccb55a2e8f319b05bbd89613c72567745534936186e)
     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 ${ldd_version})
-        if(${glibc_version} VERSION_LESS "2.31")
+        if(${glibc_version} VERSION_LESS "2.33")
             set(FILAMENT_URL
-                https://github.com/isl-org/open3d_downloads/releases/download/filament/filament-v1.9.19-linux.tgz)
-            set(FILAMENT_SHA256 f0c0b05a543dd0c82b1cd571957a90f28e72cfeee36d19a527c17ac9de4733d5)
+                    https://github.com/isl-org/open3d_downloads/releases/download/filament/filament-v1.49.1-ubuntu20.04.tgz)
+            set(FILAMENT_SHA256 f4ba020f0ca63540e2f86b36d1728a1ea063ddd5eb55b0ba6fc621ee815a60a7)
             message(STATUS "GLIBC version ${glibc_version} found: Using "
-                "Google Filament binary.")
+                    "Open3D built Filament binary for Ubuntu 20.04.")
         else()
             set(FILAMENT_URL
-                https://github.com/isl-org/open3d_downloads/releases/download/filament/filament-v1.9.19-linux-20.04.tgz)
-            set(FILAMENT_SHA256 c756fd76f5c6a40ca554f8c3cca424354a2a22ea6fce3c8ea893d4c4aa39514c)
+                    https://github.com/google/filament/releases/download/v1.54.0/filament-v1.54.0-linux.tgz)
+            set(FILAMENT_SHA256 f07fbe8fcb6422a682f429d95fa2e097c538d0d900c62f0a835f595ab3909e8e)
             message(STATUS "GLIBC version ${glibc_version} found: Using "
-                "Open3D Filament binary.")
+                    "Google Filament binary.")
         endif()
     endif()
 
     set(lib_byproducts ${filament_LIBRARIES})
     list(TRANSFORM lib_byproducts PREPEND <SOURCE_DIR>/${lib_dir}/${CMAKE_STATIC_LIBRARY_PREFIX})
     list(TRANSFORM lib_byproducts APPEND ${CMAKE_STATIC_LIBRARY_SUFFIX})
+    message(STATUS "Filament byproducts: ${lib_byproducts}")
 
     if(WIN32)
         set(lib_byproducts_debug ${filament_LIBRARIES})
@@ -68,20 +55,21 @@ else()
 
     # ExternalProject_Add happens at build time.
     ExternalProject_Add(
-        ext_filament
-        PREFIX filament
-        URL ${FILAMENT_URL}
-        URL_HASH SHA256=${FILAMENT_SHA256}
-        DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/filament"
-        UPDATE_COMMAND ""
-        CONFIGURE_COMMAND ""
-        BUILD_IN_SOURCE ON
-        BUILD_COMMAND ""
-        INSTALL_COMMAND ""
-        BUILD_BYPRODUCTS ${lib_byproducts}
+            ext_filament
+            PREFIX filament
+            URL ${FILAMENT_URL}
+            URL_HASH SHA256=${FILAMENT_SHA256}
+            DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/filament"
+            UPDATE_COMMAND ""
+            CONFIGURE_COMMAND ""
+            BUILD_IN_SOURCE ON
+            BUILD_COMMAND ""
+            INSTALL_COMMAND ""
+            BUILD_BYPRODUCTS ${lib_byproducts}
     )
     ExternalProject_Get_Property(ext_filament SOURCE_DIR)
+    message(STATUS "Filament source dir is ${SOURCE_DIR}")
     set(FILAMENT_ROOT ${SOURCE_DIR})
 endif()
 
-message(STATUS "Filament is located at ${FILAMENT_ROOT}")
+message(STATUS "Filament is located at ${FILAMENT_ROOT}")
\ No newline at end of file
diff --git a/3rdparty/find_dependencies.cmake b/3rdparty/find_dependencies.cmake
index b95b97bd1ab..241f2771e64 100644
--- a/3rdparty/find_dependencies.cmake
+++ b/3rdparty/find_dependencies.cmake
@@ -1315,22 +1315,25 @@ if(BUILD_GUI)
         else()
             message(STATUS "Using prebuilt third-party library Filament")
             include(${Open3D_3RDPARTY_DIR}/filament/filament_download.cmake)
-            # Set lib directory for filament v1.9.9 on Windows.
-            # Assume newer version if FILAMENT_PRECOMPILED_ROOT is set.
-            if (WIN32 AND NOT FILAMENT_PRECOMPILED_ROOT)
-                if (STATIC_WINDOWS_RUNTIME)
-                    set(FILAMENT_RUNTIME_VER "x86_64/mt$<$<CONFIG:DEBUG>:d>")
-                else()
-                    set(FILAMENT_RUNTIME_VER "x86_64/md$<$<CONFIG:DEBUG>:d>")
-                endif()
-            endif()
         endif()
-        if (APPLE)
+        if (UNIX AND NOT APPLE)
+            if (CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64|arm64)$")
+                set(FILAMENT_RUNTIME_VER aarch64)
+            else()
+                set(FILAMENT_RUNTIME_VER x86_64)
+            endif()
+        elseif (APPLE)
             if (APPLE_AARCH64)
                 set(FILAMENT_RUNTIME_VER arm64)
             else()
                 set(FILAMENT_RUNTIME_VER x86_64)
             endif()
+        else()  # WIN32
+            if (STATIC_WINDOWS_RUNTIME)
+                set(FILAMENT_RUNTIME_VER "x86_64/mt$<$<CONFIG:DEBUG>:d>")
+            else()
+                set(FILAMENT_RUNTIME_VER "x86_64/md$<$<CONFIG:DEBUG>:d>")
+            endif()
         endif()
         open3d_import_3rdparty_library(3rdparty_filament
             HEADER
diff --git a/3rdparty/openblas/openblas.cmake b/3rdparty/openblas/openblas.cmake
index 1c97dbd8429..87220ba5086 100644
--- a/3rdparty/openblas/openblas.cmake
+++ b/3rdparty/openblas/openblas.cmake
@@ -9,8 +9,8 @@ endif()
 ExternalProject_Add(
     ext_openblas
     PREFIX openblas
-        URL https://github.com/OpenMathLib/OpenBLAS/releases/download/v0.3.29/OpenBLAS-0.3.29.tar.gz
-        URL_HASH SHA256=38240eee1b29e2bde47ebb5d61160207dc68668a54cac62c076bb5032013b1eb
+        URL https://github.com/OpenMathLib/OpenBLAS/releases/download/v0.3.30/OpenBLAS-0.3.30.tar.gz
+        URL_HASH SHA256=27342cff518646afb4c2b976d809102e368957974c250a25ccc965e53063c95d
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/openblas"
     CMAKE_ARGS
         ${ExternalProject_CMAKE_ARGS}
diff --git a/3rdparty/webrtc/Dockerfile.webrtc b/3rdparty/webrtc/Dockerfile.webrtc
index b935d0e8ef7..8c127c97b6d 100644
--- a/3rdparty/webrtc/Dockerfile.webrtc
+++ b/3rdparty/webrtc/Dockerfile.webrtc
@@ -13,7 +13,7 @@
 #   - docker run --rm --entrypoint cat open3d-webrtc:abi1 \
 #       webrtc_60e6748_cxx-abi-1.tar.gz > webrtc_60e6748_cxx-abi-1.tar.gz
 
-FROM ubuntu:20.04
+FROM ubuntu:22.04
 
 ARG SUDO=command
 COPY 3rdparty/webrtc 3rdparty/webrtc
diff --git a/CHANGELOG.md b/CHANGELOG.md
index ff978597cd5..2d11a94b796 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -63,7 +63,7 @@
 -   Exposed `get_plotly_fig` and modified `draw_plotly` to return the `Figure` it creates. (PR #7258)
 -   Fix build with librealsense v2.44.0 and upcoming VS 2022 17.13 (PR #7074)
 -   Fix `deprecated-declarations` warnings when compiling code with C++20 standard (PR #7303)
-
+-   macOS x86_64 not longer supported, only macOS arm64 is supported.
 ## 0.13
 
 -   CUDA support 10.1 -> 11.0. Tensorflow 2.3.1 -> 2.4.1. PyTorch 1.6.0 -> 1.7.1 (PR #3049). This requires a custom PyTorch wheel from <https://github.com/isl-org/open3d_downloads/releases/tag/torch1.7.1> due to PyTorch issue #52663
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4133c356742..5d4a9c42130 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -591,4 +591,4 @@ add_custom_target(apply-cpp-style
 )
 
 include(Open3DPrintConfigurationSummary)
-open3d_print_configuration_summary()
+open3d_print_configuration_summary()
\ No newline at end of file
diff --git a/cmake/Open3DAddCompiledMaterials.cmake b/cmake/Open3DAddCompiledMaterials.cmake
index 171e57e6376..edb92c3e8a1 100644
--- a/cmake/Open3DAddCompiledMaterials.cmake
+++ b/cmake/Open3DAddCompiledMaterials.cmake
@@ -35,7 +35,7 @@ function(open3d_add_compiled_materials target)
     if (IOS OR ANDROID)
         set(FILAMENT_MATC_ARGS "--platform=mobile")
     else()
-        set(FILAMENT_MATC_ARGS "--platform=desktop")
+        set(FILAMENT_MATC_ARGS "--api=all")
     endif()
 
     get_filename_component(OUTPUT_DIRECTORY_FULL_PATH "${ARG_OUTPUT_DIRECTORY}" ABSOLUTE)
diff --git a/cpp/open3d/geometry/TriangleMesh.cpp b/cpp/open3d/geometry/TriangleMesh.cpp
index bb5f9571e09..c5f122a376b 100644
--- a/cpp/open3d/geometry/TriangleMesh.cpp
+++ b/cpp/open3d/geometry/TriangleMesh.cpp
@@ -293,6 +293,16 @@ std::shared_ptr<TriangleMesh> TriangleMesh::FilterSmoothSimple(
             std::swap(mesh->vertex_colors_, prev_vertex_colors);
         }
     }
+    if (filter_vertex) {
+        const double epsilon = 1e-15;
+        for (auto &vertex : mesh->vertices_) {
+            for (int i = 0; i < 3; ++i) {
+                if (std::abs(vertex(i)) < epsilon) {
+                    vertex(i) = 0.0;
+                }
+            }
+        }
+    }
     return mesh;
 }
 
@@ -386,6 +396,16 @@ std::shared_ptr<TriangleMesh> TriangleMesh::FilterSmoothLaplacian(
             std::swap(mesh->vertex_colors_, prev_vertex_colors);
         }
     }
+    if (filter_vertex) {
+        const double epsilon = 1e-15;
+        for (auto &vertex : mesh->vertices_) {
+            for (int i = 0; i < 3; ++i) {
+                if (std::abs(vertex(i)) < epsilon) {
+                    vertex(i) = 0.0;
+                }
+            }
+        }
+    }
     return mesh;
 }
 
@@ -434,6 +454,16 @@ std::shared_ptr<TriangleMesh> TriangleMesh::FilterSmoothTaubin(
             std::swap(mesh->vertex_colors_, prev_vertex_colors);
         }
     }
+    if (filter_vertex) {
+        const double epsilon = 1e-15;
+        for (auto &vertex : mesh->vertices_) {
+            for (int i = 0; i < 3; ++i) {
+                if (std::abs(vertex(i)) < epsilon) {
+                    vertex(i) = 0.0;
+                }
+            }
+        }
+    }
     return mesh;
 }
 
diff --git a/cpp/open3d/visualization/CMakeLists.txt b/cpp/open3d/visualization/CMakeLists.txt
index 833ca2ae40f..b73941f0176 100644
--- a/cpp/open3d/visualization/CMakeLists.txt
+++ b/cpp/open3d/visualization/CMakeLists.txt
@@ -2,6 +2,8 @@ open3d_ispc_add_library(visualization OBJECT)
 
 open3d_ispc_add_library(visualization_impl OBJECT)
 set_target_properties(visualization_impl PROPERTIES CXX_VISIBILITY_PRESET hidden)
+# filament uses C++20 designated initializers
+set_property(TARGET visualization_impl visualization PROPERTY CXX_STANDARD 20)
 
 target_sources(visualization_impl PRIVATE
     shader/GeometryRenderer.cpp
diff --git a/cpp/open3d/visualization/gui/Application.cpp b/cpp/open3d/visualization/gui/Application.cpp
index 85b260a0182..8f2630b9973 100644
--- a/cpp/open3d/visualization/gui/Application.cpp
+++ b/cpp/open3d/visualization/gui/Application.cpp
@@ -148,9 +148,9 @@ struct Application::Impl {
         InitWindowSystem();
 
         // Initialize rendering
-        visualization::rendering::EngineInstance::SelectBackend(
-                visualization::rendering::EngineInstance::RenderingType::
-                        kOpenGL);
+        // NOTE: This is where we used to manually select a backend for Filament
+        // but we feel comfortable now allowing Filament to select the best
+        // backend for the platform so there's no code here anymore
     }
 
     void CleanupAfterRunning() {
diff --git a/cpp/open3d/visualization/gui/BitmapWindowSystem.cpp b/cpp/open3d/visualization/gui/BitmapWindowSystem.cpp
index f40e5545556..3db9d0cefef 100644
--- a/cpp/open3d/visualization/gui/BitmapWindowSystem.cpp
+++ b/cpp/open3d/visualization/gui/BitmapWindowSystem.cpp
@@ -129,16 +129,7 @@ struct BitmapWindowSystem::Impl {
 };
 
 BitmapWindowSystem::BitmapWindowSystem(Rendering mode /*= Rendering::NORMAL*/)
-    : impl_(new BitmapWindowSystem::Impl()) {
-    if (mode == Rendering::HEADLESS) {
-#if !defined(__APPLE__) && !defined(_WIN32) && !defined(_WIN64)
-        rendering::EngineInstance::EnableHeadless();
-#else
-        utility::LogWarning(
-                "BitmapWindowSystem(): HEADLESS is only supported on Linux.");
-#endif
-    }
-}
+    : impl_(new BitmapWindowSystem::Impl()) {}
 
 BitmapWindowSystem::~BitmapWindowSystem() {}
 
diff --git a/cpp/open3d/visualization/gui/BitmapWindowSystem.h b/cpp/open3d/visualization/gui/BitmapWindowSystem.h
index a0558c6898b..c058b5b42fe 100644
--- a/cpp/open3d/visualization/gui/BitmapWindowSystem.h
+++ b/cpp/open3d/visualization/gui/BitmapWindowSystem.h
@@ -27,6 +27,7 @@ struct TextInputEvent;
 
 class BitmapWindowSystem : public WindowSystem {
 public:
+    // Not needed anymore - may be removed
     enum class Rendering {
         NORMAL,   // normal OpenGL rendering, requires X11, Win32, or Cocoa
         HEADLESS  // uses EGL, does not require the OS to have a window system.
diff --git a/cpp/open3d/visualization/gui/CMakeLists.txt b/cpp/open3d/visualization/gui/CMakeLists.txt
index 822de19a93b..adc53bd65f8 100644
--- a/cpp/open3d/visualization/gui/CMakeLists.txt
+++ b/cpp/open3d/visualization/gui/CMakeLists.txt
@@ -59,6 +59,9 @@ else()
         NativeLinux.cpp
     )
 endif()
+# filament uses C++20 designated initializers
+set_property(TARGET GUI PROPERTY CXX_STANDARD 20)
+
 
 open3d_show_and_abort_on_warning(GUI)
 open3d_set_global_properties(GUI)
diff --git a/cpp/open3d/visualization/gui/GLFWWindowSystem.cpp b/cpp/open3d/visualization/gui/GLFWWindowSystem.cpp
index 852f6e3db24..c4dc52163a8 100644
--- a/cpp/open3d/visualization/gui/GLFWWindowSystem.cpp
+++ b/cpp/open3d/visualization/gui/GLFWWindowSystem.cpp
@@ -150,16 +150,18 @@ GLFWWindowSystem::OSWindow GLFWWindowSystem::CreateOSWindow(Window* o3d_window,
                                                             int height,
                                                             const char* title,
                                                             int flags) {
-    glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
-    glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 2);
-    glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
-    glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
-    // NOTE: Setting alpha and stencil bits to match GLX standard default
-    // values. GLFW sets these internally to 8 and 8 respectively if not
-    // specified which causes problems with Filament on Linux with Nvidia binary
-    // driver
-    glfwWindowHint(GLFW_ALPHA_BITS, 0);
-    glfwWindowHint(GLFW_STENCIL_BITS, 0);
+    glfwWindowHint(GLFW_CLIENT_API, GLFW_NO_API);
+    // glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
+    // glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 2);
+    // glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
+    // glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
+    // // NOTE: Setting alpha and stencil bits to match GLX standard default
+    // // values. GLFW sets these internally to 8 and 8 respectively if not
+    // // specified which causes problems with Filament on Linux with Nvidia
+    // binary
+    // // driver
+    // glfwWindowHint(GLFW_ALPHA_BITS, 0);
+    // glfwWindowHint(GLFW_STENCIL_BITS, 0);
 
 #if __APPLE__
     glfwWindowHint(GLFW_COCOA_RETINA_FRAMEBUFFER, GLFW_TRUE);
diff --git a/cpp/open3d/visualization/gui/ImguiFilamentBridge.cpp b/cpp/open3d/visualization/gui/ImguiFilamentBridge.cpp
index 73d773b2cb7..f7c7ade055c 100644
--- a/cpp/open3d/visualization/gui/ImguiFilamentBridge.cpp
+++ b/cpp/open3d/visualization/gui/ImguiFilamentBridge.cpp
@@ -22,6 +22,11 @@
  * limitations under the License.
  */
 
+// clang-format off
+// NOTE: this must precede header files that bring in Filament headers
+#include <cstring>
+// clang-format on
+
 #include "open3d/visualization/gui/ImguiFilamentBridge.h"
 
 // 4068: Filament has some clang-specific vectorizing pragma's that MSVC flags
@@ -38,6 +43,11 @@
 #include <filament/TransformManager.h>
 #include <utils/EntityManager.h>
 
+#include <cerrno>
+#include <iostream>
+#include <map>
+#include <vector>
+
 #ifdef _MSC_VER
 #pragma warning(pop)
 #endif  // _MSC_VER
@@ -45,11 +55,6 @@
 #include <fcntl.h>
 #include <imgui.h>
 
-#include <cerrno>
-#include <iostream>
-#include <map>
-#include <vector>
-
 #include "open3d/utility/FileSystem.h"
 #include "open3d/visualization/gui/Application.h"
 #include "open3d/visualization/gui/Color.h"
diff --git a/cpp/open3d/visualization/gui/Materials/img_blit.mat b/cpp/open3d/visualization/gui/Materials/img_blit.mat
index d112a184bde..341a5398554 100644
--- a/cpp/open3d/visualization/gui/Materials/img_blit.mat
+++ b/cpp/open3d/visualization/gui/Materials/img_blit.mat
@@ -20,7 +20,6 @@ fragment {
     void material(inout MaterialInputs material) {
         prepareMaterial(material);
         vec2 uv = getUV0();
-        uv.y = 1.0 - uv.y;
         /* OpenGL spec 8.4.4.4 says that texture().a is 1.0 if there
            is no alpha channel, so this shader can handle both RGB and RGBA
            images */
diff --git a/cpp/open3d/visualization/gui/SceneWidget.cpp b/cpp/open3d/visualization/gui/SceneWidget.cpp
index d0df7af860e..3f116de3c70 100644
--- a/cpp/open3d/visualization/gui/SceneWidget.cpp
+++ b/cpp/open3d/visualization/gui/SceneWidget.cpp
@@ -10,6 +10,7 @@
 #include <imgui.h>
 
 #include <Eigen/Geometry>
+#include <cstring>
 #include <set>
 #include <unordered_set>
 
diff --git a/cpp/open3d/visualization/rendering/RendererHandle.h b/cpp/open3d/visualization/rendering/RendererHandle.h
index 8f328accb51..df25467c53b 100644
--- a/cpp/open3d/visualization/rendering/RendererHandle.h
+++ b/cpp/open3d/visualization/rendering/RendererHandle.h
@@ -165,10 +165,10 @@ struct formatter<
     template <typename FormatContext>
     auto format(const open3d::visualization::rendering::REHandle_abstract& uid,
                 FormatContext& ctx) const -> decltype(ctx.out()) {
-        return format_to(ctx.out(), "[{}, {}, hash: {}]",
-                         open3d::visualization::rendering::REHandle_abstract::
-                                 TypeToString(uid.type),
-                         uid.GetId(), uid.Hash());
+        return fmt::format_to(ctx.out(), "[{}, {}, hash: {}]",
+                              open3d::visualization::rendering::
+                                      REHandle_abstract::TypeToString(uid.type),
+                              uid.GetId(), uid.Hash());
     }
 
     template <typename ParseContext>
diff --git a/cpp/open3d/visualization/rendering/filament/FilamentCamera.cpp b/cpp/open3d/visualization/rendering/filament/FilamentCamera.cpp
index e7a1580c4e9..9fd3cd82e92 100644
--- a/cpp/open3d/visualization/rendering/filament/FilamentCamera.cpp
+++ b/cpp/open3d/visualization/rendering/filament/FilamentCamera.cpp
@@ -40,15 +40,17 @@ Camera::Transform FilamentToCameraTransform(const filament::math::mat4& ft) {
     return Camera::Transform(m);
 }
 
-Camera::Transform FilamentToCameraTransform(const filament::math::mat4f& ft) {
-    Camera::Transform::MatrixType m;
-
-    m << ft(0, 0), ft(0, 1), ft(0, 2), ft(0, 3), ft(1, 0), ft(1, 1), ft(1, 2),
-            ft(1, 3), ft(2, 0), ft(2, 1), ft(2, 2), ft(2, 3), ft(3, 0),
-            ft(3, 1), ft(3, 2), ft(3, 3);
-
-    return Camera::Transform(m);
-}
+// Camera::Transform FilamentToCameraTransform(const filament::math::mat4f& ft)
+// {
+//     Camera::Transform::MatrixType m;
+//
+//     m << ft(0, 0), ft(0, 1), ft(0, 2), ft(0, 3), ft(1, 0), ft(1, 1), ft(1,
+//     2),
+//             ft(1, 3), ft(2, 0), ft(2, 1), ft(2, 2), ft(2, 3), ft(3, 0),
+//             ft(3, 1), ft(3, 2), ft(3, 3);
+//
+//     return Camera::Transform(m);
+// }
 
 filament::math::mat4f CameraToFilamentTransformF(const Camera::Transform& t) {
     auto e_matrix = t.matrix();
@@ -240,7 +242,8 @@ void FilamentCamera::LookAt(const Eigen::Vector3f& center,
 
 Eigen::Vector3f FilamentCamera::GetPosition() const {
     auto cam_pos = camera_->getPosition();
-    return {cam_pos.x, cam_pos.y, cam_pos.z};
+    return {static_cast<float>(cam_pos.x), static_cast<float>(cam_pos.y),
+            static_cast<float>(cam_pos.z)};
 }
 
 Eigen::Vector3f FilamentCamera::GetForwardVector() const {
@@ -314,7 +317,7 @@ void FilamentCamera::SetModelMatrix(const Eigen::Vector3f& forward,
                                     const Eigen::Vector3f& up) {
     using namespace filament;
 
-    math::mat4f ftransform = camera_->getModelMatrix();
+    math::mat4 ftransform = camera_->getModelMatrix();
     ftransform[0].xyz = math::float3(left.x(), left.y(), left.z());
     ftransform[1].xyz = math::float3(up.x(), up.y(), up.z());
     ftransform[2].xyz = math::float3(forward.x(), forward.y(), forward.z());
diff --git a/cpp/open3d/visualization/rendering/filament/FilamentEngine.cpp b/cpp/open3d/visualization/rendering/filament/FilamentEngine.cpp
index f90b00d5a03..85ffba2c555 100644
--- a/cpp/open3d/visualization/rendering/filament/FilamentEngine.cpp
+++ b/cpp/open3d/visualization/rendering/filament/FilamentEngine.cpp
@@ -33,13 +33,10 @@ static std::shared_ptr<EngineInstance> g_instance = nullptr;
 }  // namespace
 
 EngineInstance::RenderingType EngineInstance::type_ = RenderingType::kDefault;
-bool EngineInstance::is_headless_ = false;
 std::string EngineInstance::resource_path_ = "";
 
 void EngineInstance::SelectBackend(RenderingType type) { type_ = type; }
 
-void EngineInstance::EnableHeadless() { is_headless_ = true; }
-
 void EngineInstance::SetResourcePath(const std::string& resource_path) {
     resource_path_ = resource_path;
     if (!utility::filesystem::DirectoryExists(resource_path_)) {
@@ -74,10 +71,6 @@ EngineInstance& EngineInstance::Get() {
 
 void EngineInstance::DestroyInstance() { g_instance.reset(); }
 
-/// external function defined in custom Filament EGL backend for headless
-/// rendering
-extern "C" filament::backend::Platform* CreateEGLHeadlessPlatform();
-
 EngineInstance::EngineInstance() {
     filament::backend::Backend backend = filament::backend::Backend::DEFAULT;
     switch (type_) {
@@ -95,17 +88,7 @@ EngineInstance::EngineInstance() {
             break;
     }
 
-    filament::backend::Platform* custom_platform = nullptr;
-    if (is_headless_) {
-#ifdef __linux__
-        utility::LogInfo("EGL headless mode enabled.");
-        custom_platform = CreateEGLHeadlessPlatform();
-#else
-        utility::LogError("EGL Headless is not supported on this platform.");
-#endif
-    }
-
-    engine_ = filament::Engine::create(backend, custom_platform);
+    engine_ = filament::Engine::create(backend);
     resource_manager_ = new FilamentResourceManager(*engine_);
 }
 
diff --git a/cpp/open3d/visualization/rendering/filament/FilamentEngine.h b/cpp/open3d/visualization/rendering/filament/FilamentEngine.h
index f270279ff97..7b4e6c64963 100644
--- a/cpp/open3d/visualization/rendering/filament/FilamentEngine.h
+++ b/cpp/open3d/visualization/rendering/filament/FilamentEngine.h
@@ -28,10 +28,6 @@ class EngineInstance {
     // If not called, platform available default backend will be used.
     static void SelectBackend(RenderingType type);
 
-    /// Initialize Engine for headless rendering. Must be called before first
-    /// access to the Engine (GetInstance).
-    static void EnableHeadless();
-
     // Specifies path to load shaders and skyboxes from. Must be called before
     // instance usage, or default path will be used.
     static void SetResourcePath(const std::string& resource_path);
@@ -53,7 +49,6 @@ class EngineInstance {
     EngineInstance();
 
     static RenderingType type_;
-    static bool is_headless_;
     static std::string resource_path_;
     filament::Engine* engine_;
     FilamentResourceManager* resource_manager_;
diff --git a/cpp/open3d/visualization/rendering/filament/FilamentGeometryBuffersBuilder.h b/cpp/open3d/visualization/rendering/filament/FilamentGeometryBuffersBuilder.h
index 40bbd32d349..34cbc09133a 100644
--- a/cpp/open3d/visualization/rendering/filament/FilamentGeometryBuffersBuilder.h
+++ b/cpp/open3d/visualization/rendering/filament/FilamentGeometryBuffersBuilder.h
@@ -26,9 +26,11 @@
 #ifdef _MSC_VER
 #pragma warning(push)
 #pragma warning(disable : 4068 4146 4293)
-// Filament uses OPAQUE and TRANSPARENT as enums which conflicts with windows.h
+// Filament uses these as enums / local variables that conflict with windows.h
 #undef OPAQUE
 #undef TRANSPARENT
+#undef near
+#undef far
 #endif // _MSC_VER
 
 #include <filament/Box.h>
diff --git a/cpp/open3d/visualization/rendering/filament/FilamentResourceManager.cpp b/cpp/open3d/visualization/rendering/filament/FilamentResourceManager.cpp
index dd10e441f59..b21d1b91d68 100644
--- a/cpp/open3d/visualization/rendering/filament/FilamentResourceManager.cpp
+++ b/cpp/open3d/visualization/rendering/filament/FilamentResourceManager.cpp
@@ -33,8 +33,7 @@
 #include <filament/Skybox.h>
 #include <filament/Texture.h>
 #include <filament/TextureSampler.h>
-#include <image/KtxBundle.h>
-#include <image/KtxUtility.h>
+#include <ktxreader/Ktx1Reader.h>
 
 #ifdef _MSC_VER
 #pragma warning(pop)
@@ -596,8 +595,10 @@ RenderTargetHandle FilamentResourceManager::CreateRenderTarget(
     }
 
     auto rt = RenderTarget::Builder()
-                      .texture(RenderTarget::COLOR, color_tex.get())
-                      .texture(RenderTarget::DEPTH, depth_tex.get())
+                      .texture(RenderTarget::AttachmentPoint::COLOR,
+                               color_tex.get())
+                      .texture(RenderTarget::AttachmentPoint::DEPTH,
+                               depth_tex.get())
                       .build(engine_);
     handle = RegisterResource<RenderTargetHandle>(engine_, rt, render_targets_);
     return handle;
@@ -615,11 +616,11 @@ IndirectLightHandle FilamentResourceManager::CreateIndirectLight(
                                                &error_str)) {
             using namespace filament;
             // will be destroyed later by image::ktx::createTexture
-            auto* ibl_ktx = new image::KtxBundle(
+            auto* ibl_ktx = new image::Ktx1Bundle(
                     reinterpret_cast<std::uint8_t*>(ibl_data.data()),
                     std::uint32_t(ibl_data.size()));
-            auto* ibl_texture =
-                    image::ktx::createTexture(&engine_, ibl_ktx, false);
+            auto* ibl_texture = ktxreader::Ktx1Reader::createTexture(
+                    &engine_, ibl_ktx, false);
 
             filament::math::float3 bands[9] = {};
             if (!ibl_ktx->getSphericalHarmonics(bands)) {
@@ -684,11 +685,11 @@ SkyboxHandle FilamentResourceManager::CreateSkybox(
                                                &error_str)) {
             using namespace filament;
             // will be destroyed later by image::ktx::createTexture
-            auto* sky_ktx = new image::KtxBundle(
+            auto* sky_ktx = new image::Ktx1Bundle(
                     reinterpret_cast<std::uint8_t*>(sky_data.data()),
                     std::uint32_t(sky_data.size()));
-            auto* sky_texture =
-                    image::ktx::createTexture(&engine_, sky_ktx, false);
+            auto* sky_texture = ktxreader::Ktx1Reader::createTexture(
+                    &engine_, sky_ktx, false);
 
             auto skybox = Skybox::Builder()
                                   .environment(sky_texture)
diff --git a/cpp/open3d/visualization/rendering/filament/FilamentScene.cpp b/cpp/open3d/visualization/rendering/filament/FilamentScene.cpp
index 0afb898538a..4ca8c0bf1e7 100644
--- a/cpp/open3d/visualization/rendering/filament/FilamentScene.cpp
+++ b/cpp/open3d/visualization/rendering/filament/FilamentScene.cpp
@@ -13,6 +13,7 @@
 //       32 so that x >> 32 gives a warning. (Or maybe the compiler can't
 //       determine the if statement does not run.)
 // 4305: LightManager.h needs to specify some constants as floats
+#include <cstring>
 #include <unordered_set>
 
 #ifdef _MSC_VER
@@ -659,12 +660,21 @@ void FilamentScene::UpdateGeometry(const std::string& object_name,
         }
 
         // Update the geometry to reflect new geometry count
+        // ******** NOTE ******** setGeometryAt changed - this code path needs
+        // to be tested!!!!
         if (geometry_update_needed) {
             auto& renderable_mgr = engine_.getRenderableManager();
             auto inst = renderable_mgr.getInstance(g->filament_entity);
+#if defined(__clang__)
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wnonnull"
+#endif
             renderable_mgr.setGeometryAt(
                     inst, 0, filament::RenderableManager::PrimitiveType::POINTS,
-                    0, n_vertices);
+                    nullptr, nullptr, 0, n_vertices);
+#if defined(__clang__)
+#pragma clang diagnostic pop
+#endif
         }
     }
 }
@@ -1959,4 +1969,4 @@ void FilamentScene::HideRefractedMaterials(bool hide) {
 
 }  // namespace rendering
 }  // namespace visualization
-}  // namespace open3d
+}  // namespace open3d
\ No newline at end of file
diff --git a/cpp/open3d/visualization/rendering/filament/FilamentView.cpp b/cpp/open3d/visualization/rendering/filament/FilamentView.cpp
index 1f8656bf6af..201c8cb581f 100644
--- a/cpp/open3d/visualization/rendering/filament/FilamentView.cpp
+++ b/cpp/open3d/visualization/rendering/filament/FilamentView.cpp
@@ -57,7 +57,8 @@ FilamentView::FilamentView(filament::Engine& engine,
                            FilamentResourceManager& resource_mgr)
     : engine_(engine), resource_mgr_(resource_mgr) {
     view_ = engine_.createView();
-    view_->setSampleCount(4);
+    filament::MultiSampleAntiAliasingOptions msaao({true, 4, false});
+    view_->setMultiSampleAntiAliasingOptions(msaao);
     SetAntiAliasing(true, false);
     SetPostProcessing(true);
     SetAmbientOcclusion(true, false);
@@ -86,7 +87,14 @@ FilamentView::FilamentView(filament::Engine& engine,
 }
 
 FilamentView::~FilamentView() {
+#if defined(__clang__)
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wnonnull"
+#endif
     view_->setCamera(nullptr);
+#if defined(__clang__)
+#pragma clang diagnostic pop
+#endif
     view_->setScene(nullptr);
 
     camera_.reset();
@@ -140,9 +148,16 @@ void FilamentView::SetWireframe(bool enable) {
     }
 }
 
-void FilamentView::SetSampleCount(int n) { view_->setSampleCount(n); }
+void FilamentView::SetSampleCount(int n) {
+    auto msaao = view_->getMultiSampleAntiAliasingOptions();
+    msaao.sampleCount = n;
+    view_->setMultiSampleAntiAliasingOptions(msaao);
+}
 
-int FilamentView::GetSampleCount() const { return view_->getSampleCount(); }
+int FilamentView::GetSampleCount() const {
+    auto msaao = view_->getMultiSampleAntiAliasingOptions();
+    return msaao.sampleCount;
+}
 
 void FilamentView::SetViewport(std::int32_t x,
                                std::int32_t y,
@@ -180,14 +195,12 @@ void FilamentView::SetBloom(bool enabled,
 }
 
 void FilamentView::SetAntiAliasing(bool enabled, bool temporal /* = false */) {
-    if (enabled) {
-        filament::View::TemporalAntiAliasingOptions options;
-        options.enabled = temporal;
-        view_->setAntiAliasing(filament::View::AntiAliasing::FXAA);
-        view_->setTemporalAntiAliasingOptions(options);
-    } else {
-        view_->setAntiAliasing(filament::View::AntiAliasing::NONE);
-    }
+    auto options = view_->getTemporalAntiAliasingOptions();
+    auto msaao = view_->getMultiSampleAntiAliasingOptions();
+    options.enabled = temporal;
+    msaao.enabled = enabled;
+    view_->setMultiSampleAntiAliasingOptions(msaao);
+    view_->setTemporalAntiAliasingOptions(options);
 }
 
 void FilamentView::SetShadowing(bool enabled, ShadowType type) {
@@ -227,30 +240,30 @@ void FilamentView::SetColorGrading(const ColorGradingParams& color_grading) {
             break;
     }
 
-    filament::ColorGrading::ToneMapping tm =
-            filament::ColorGrading::ToneMapping::LINEAR;
-    switch (color_grading.GetToneMapping()) {
-        case ColorGradingParams::ToneMapping::kAcesLegacy:
-            tm = filament::ColorGrading::ToneMapping::ACES_LEGACY;
-            break;
-        case ColorGradingParams::ToneMapping::kAces:
-            tm = filament::ColorGrading::ToneMapping::ACES;
-            break;
-        case ColorGradingParams::ToneMapping::kFilmic:
-            tm = filament::ColorGrading::ToneMapping::FILMIC;
-            break;
-        case ColorGradingParams::ToneMapping::kUchimura:
-            tm = filament::ColorGrading::ToneMapping::UCHIMURA;
-            break;
-        case ColorGradingParams::ToneMapping::kReinhard:
-            tm = filament::ColorGrading::ToneMapping::REINHARD;
-            break;
-        case ColorGradingParams::ToneMapping::kDisplayRange:
-            tm = filament::ColorGrading::ToneMapping::DISPLAY_RANGE;
-            break;
-        default:
-            break;
-    }
+    // filament::ColorGrading::ToneMapping tm =
+    //         filament::ColorGrading::ToneMapping::LINEAR;
+    // switch (color_grading.GetToneMapping()) {
+    //     case ColorGradingParams::ToneMapping::kAcesLegacy:
+    //         tm = filament::ColorGrading::ToneMapping::ACES_LEGACY;
+    //         break;
+    //     case ColorGradingParams::ToneMapping::kAces:
+    //         tm = filament::ColorGrading::ToneMapping::ACES;
+    //         break;
+    //     case ColorGradingParams::ToneMapping::kFilmic:
+    //         tm = filament::ColorGrading::ToneMapping::FILMIC;
+    //         break;
+    //     case ColorGradingParams::ToneMapping::kUchimura:
+    //         tm = filament::ColorGrading::ToneMapping::UCHIMURA;
+    //         break;
+    //     case ColorGradingParams::ToneMapping::kReinhard:
+    //         tm = filament::ColorGrading::ToneMapping::REINHARD;
+    //         break;
+    //     case ColorGradingParams::ToneMapping::kDisplayRange:
+    //         tm = filament::ColorGrading::ToneMapping::DISPLAY_RANGE;
+    //         break;
+    //     default:
+    //         break;
+    // }
 
     if (color_grading_) {
         engine_.destroy(color_grading_);
@@ -258,7 +271,7 @@ void FilamentView::SetColorGrading(const ColorGradingParams& color_grading) {
     color_grading_ =
             filament::ColorGrading::Builder()
                     .quality(q)
-                    .toneMapping(tm)
+                    // .toneMapping(tm)
                     .whiteBalance(color_grading.GetTemperature(),
                                   color_grading.GetTint())
                     .channelMixer(
@@ -285,7 +298,7 @@ void FilamentView::SetColorGrading(const ColorGradingParams& color_grading) {
 }
 
 void FilamentView::ConfigureForColorPicking() {
-    view_->setSampleCount(1);
+    SetSampleCount(1);
     SetPostProcessing(false);
     SetAmbientOcclusion(false, false);
     SetShadowing(false, ShadowType::kPCF);
@@ -355,7 +368,8 @@ void FilamentView::CopySettingsFrom(const FilamentView& other) {
     if (other.color_grading_) {
         view_->setColorGrading(other.color_grading_);
     }
-    view_->setSampleCount(other.view_->getSampleCount());
+    view_->setMultiSampleAntiAliasingOptions(
+            other.view_->getMultiSampleAntiAliasingOptions());
     auto ao_options = other.view_->getAmbientOcclusionOptions();
     view_->setAmbientOcclusionOptions(ao_options);
     auto aa_mode = other.view_->getAntiAliasing();
@@ -386,8 +400,8 @@ void FilamentView::PreRender() {
             const auto n = camera_->GetNativeCamera()->getNear();
 
             FilamentMaterialModifier(selected_material, material_handle)
-                    .SetParameter("cameraNear", n)
-                    .SetParameter("cameraFar", f)
+                    .SetParameter("cameraNear", static_cast<float>(n))
+                    .SetParameter("cameraFar", static_cast<float>(f))
                     .Finish();
         }
     } else if (mode_ == Mode::Normals) {
@@ -463,4 +477,4 @@ void FilamentView::PostRender() {}
 
 }  // namespace rendering
 }  // namespace visualization
-}  // namespace open3d
+}  // namespace open3d
\ No newline at end of file
diff --git a/cpp/open3d/visualization/rendering/filament/LineSetBuffers.cpp b/cpp/open3d/visualization/rendering/filament/LineSetBuffers.cpp
index 2e14cfbca48..573402289fa 100644
--- a/cpp/open3d/visualization/rendering/filament/LineSetBuffers.cpp
+++ b/cpp/open3d/visualization/rendering/filament/LineSetBuffers.cpp
@@ -181,7 +181,6 @@ LineSetBuffersBuilder::Buffers LineSetBuffersBuilder::ConstructThinLines() {
                                             VertexBuffer::AttributeType::FLOAT3,
                                             ColoredVertex::GetPositionOffset(),
                                             sizeof(ColoredVertex))
-                                 .normalized(VertexAttribute::COLOR)
                                  .attribute(VertexAttribute::COLOR, 0,
                                             VertexBuffer::AttributeType::FLOAT4,
                                             ColoredVertex::GetColorOffset(),
@@ -303,7 +302,6 @@ LineSetBuffersBuilder::Buffers LineSetBuffersBuilder::ConstructBuffers() {
                                             VertexBuffer::AttributeType::FLOAT4,
                                             ColoredVertex::GetNextOffset(),
                                             sizeof(ColoredVertex))
-                                 .normalized(VertexAttribute::COLOR)
                                  .attribute(VertexAttribute::COLOR, 0,
                                             VertexBuffer::AttributeType::FLOAT4,
                                             ColoredVertex::GetColorOffset(),
diff --git a/cpp/open3d/visualization/rendering/filament/PointCloudBuffers.cpp b/cpp/open3d/visualization/rendering/filament/PointCloudBuffers.cpp
index f88db292b1f..774c1e1be6b 100644
--- a/cpp/open3d/visualization/rendering/filament/PointCloudBuffers.cpp
+++ b/cpp/open3d/visualization/rendering/filament/PointCloudBuffers.cpp
@@ -174,12 +174,10 @@ GeometryBuffersBuilder::Buffers PointCloudBuffersBuilder::ConstructBuffers() {
                                             VertexBuffer::AttributeType::FLOAT3,
                                             ColoredVertex::GetPositionOffset(),
                                             sizeof(ColoredVertex))
-                                 .normalized(VertexAttribute::COLOR)
                                  .attribute(VertexAttribute::COLOR, 0,
                                             VertexBuffer::AttributeType::FLOAT4,
                                             ColoredVertex::GetColorOffset(),
                                             sizeof(ColoredVertex))
-                                 .normalized(VertexAttribute::TANGENTS)
                                  .attribute(VertexAttribute::TANGENTS, 0,
                                             VertexBuffer::AttributeType::FLOAT4,
                                             ColoredVertex::GetTangentOffset(),
@@ -350,10 +348,8 @@ GeometryBuffersBuilder::Buffers TPointCloudBuffersBuilder::ConstructBuffers() {
                                  .vertexCount(uint32_t(n_vertices))
                                  .attribute(VertexAttribute::POSITION, 0,
                                             VertexBuffer::AttributeType::FLOAT3)
-                                 .normalized(VertexAttribute::COLOR)
                                  .attribute(VertexAttribute::COLOR, 1,
                                             VertexBuffer::AttributeType::FLOAT3)
-                                 .normalized(VertexAttribute::TANGENTS)
                                  .attribute(VertexAttribute::TANGENTS, 2,
                                             VertexBuffer::AttributeType::FLOAT4)
                                  .attribute(VertexAttribute::CUSTOM0, 2,
diff --git a/cpp/open3d/visualization/rendering/filament/TriangleMeshBuffers.cpp b/cpp/open3d/visualization/rendering/filament/TriangleMeshBuffers.cpp
index 776e7011191..d413496c96e 100644
--- a/cpp/open3d/visualization/rendering/filament/TriangleMeshBuffers.cpp
+++ b/cpp/open3d/visualization/rendering/filament/TriangleMeshBuffers.cpp
@@ -127,7 +127,6 @@ VertexBuffer* BuildFilamentVertexBuffer(filament::Engine& engine,
                                VertexBuffer::AttributeType::FLOAT3,
                                GetVertexPositionOffset<TexturedVertex>(),
                                stride)
-                    .normalized(VertexAttribute::TANGENTS)
                     .attribute(VertexAttribute::TANGENTS, 0,
                                VertexBuffer::AttributeType::FLOAT4,
                                GetVertexTangentOffset<TexturedVertex>(), stride)
@@ -137,10 +136,9 @@ VertexBuffer* BuildFilamentVertexBuffer(filament::Engine& engine,
                                stride);
 
     if (has_colors) {
-        builder.normalized(VertexAttribute::COLOR)
-                .attribute(VertexAttribute::COLOR, 0,
-                           VertexBuffer::AttributeType::FLOAT4,
-                           GetVertexColorOffset<TexturedVertex>(), stride);
+        builder.attribute(VertexAttribute::COLOR, 0,
+                          VertexBuffer::AttributeType::FLOAT4,
+                          GetVertexColorOffset<TexturedVertex>(), stride);
     }
 
     if (has_uvs) {
@@ -633,10 +631,8 @@ GeometryBuffersBuilder::Buffers TMeshBuffersBuilder::ConstructBuffers() {
                                  .vertexCount(uint32_t(n_vertices))
                                  .attribute(VertexAttribute::POSITION, 0,
                                             VertexBuffer::AttributeType::FLOAT3)
-                                 .normalized(VertexAttribute::COLOR)
                                  .attribute(VertexAttribute::COLOR, 1,
                                             VertexBuffer::AttributeType::FLOAT3)
-                                 .normalized(VertexAttribute::TANGENTS)
                                  .attribute(VertexAttribute::TANGENTS, 2,
                                             VertexBuffer::AttributeType::FLOAT4)
                                  .attribute(VertexAttribute::CUSTOM0, 2,
diff --git a/cpp/open3d/visualization/visualizer/ViewControlWithCustomAnimation.cpp b/cpp/open3d/visualization/visualizer/ViewControlWithCustomAnimation.cpp
index dc4d9a77408..8d147dfbc7c 100644
--- a/cpp/open3d/visualization/visualizer/ViewControlWithCustomAnimation.cpp
+++ b/cpp/open3d/visualization/visualizer/ViewControlWithCustomAnimation.cpp
@@ -161,7 +161,7 @@ std::string ViewControlWithCustomAnimation::GetStatusString() const {
         if (view_trajectory_.view_status_.empty()) {
             buffer = "empty trajectory";
         } else {
-            buffer = fmt::format(buffer, "#{} frame ({} in total{})",
+            buffer = fmt::format("#{} frame ({} in total{})",
                                  (unsigned int)CurrentFrame() + 1,
                                  (unsigned int)view_trajectory_.NumOfFrames(),
                                  view_trajectory_.is_loop_ ? ", looped" : "");
diff --git a/cpp/open3d/visualization/visualizer/VisualizerWithCustomAnimation.cpp b/cpp/open3d/visualization/visualizer/VisualizerWithCustomAnimation.cpp
index fa13111961e..e01fbb76adb 100644
--- a/cpp/open3d/visualization/visualizer/VisualizerWithCustomAnimation.cpp
+++ b/cpp/open3d/visualization/visualizer/VisualizerWithCustomAnimation.cpp
@@ -107,17 +107,18 @@ void VisualizerWithCustomAnimation::Play(
                 view_control.ConvertToPinholeCameraParameters(parameter);
                 trajectory_ptr->parameters_.push_back(parameter);
             }
-            std::string buffer;
             if (recording_depth) {
-                buffer = fmt::format(recording_depth_filename_format_.c_str(),
-                                     recording_file_index_);
-                CaptureDepthImage(
-                        recording_depth_basedir_ + std::string(buffer), false);
+                auto buffer = fmt::format(
+                        fmt::runtime(recording_depth_basedir_ +
+                                     recording_depth_filename_format_),
+                        recording_file_index_);
+                CaptureDepthImage(buffer, false);
             } else {
-                buffer = fmt::format(recording_image_filename_format_.c_str(),
-                                     recording_file_index_);
-                CaptureScreenImage(
-                        recording_image_basedir_ + std::string(buffer), false);
+                auto buffer = fmt::format(
+                        fmt::runtime(recording_depth_basedir_ +
+                                     recording_image_filename_format_),
+                        recording_file_index_);
+                CaptureScreenImage(buffer, false);
             }
         }
         view_control.Step(1.0);
diff --git a/cpp/pybind/visualization/rendering/rendering.cpp b/cpp/pybind/visualization/rendering/rendering.cpp
index 417f8d9d2ad..fd3ea179092 100644
--- a/cpp/pybind/visualization/rendering/rendering.cpp
+++ b/cpp/pybind/visualization/rendering/rendering.cpp
@@ -35,9 +35,6 @@ class PyOffscreenRenderer {
         gui::InitializeForPython(resource_path, true);
         width_ = width;
         height_ = height;
-        // NOTE: OffscreenRenderer now always uses headless so that a window
-        // system is never required
-        EngineInstance::EnableHeadless();
         renderer_ = new FilamentRenderer(EngineInstance::GetInstance(), width,
                                          height,
                                          EngineInstance::GetResourceManager());
diff --git a/docker/Dockerfile.ci b/docker/Dockerfile.ci
index 18432c8cbc6..cbad785399e 100755
--- a/docker/Dockerfile.ci
+++ b/docker/Dockerfile.ci
@@ -165,7 +165,7 @@ RUN source util/ci_utils.sh \
 RUN mkdir -p /etc/apt/keyrings \
  && curl -fsSL https://deb.nodesource.com/gpgkey/nodesource-repo.gpg.key \
  | gpg --dearmor -o /etc/apt/keyrings/nodesource.gpg \
- && echo "deb [signed-by=/etc/apt/keyrings/nodesource.gpg] https://deb.nodesource.com/node_16.x nodistro main" \
+ && echo "deb [signed-by=/etc/apt/keyrings/nodesource.gpg] https://deb.nodesource.com/node_18.x nodistro main" \
  | tee /etc/apt/sources.list.d/nodesource.list \
  && apt-get update \
  && apt-get install -y nodejs \
diff --git a/docker/Dockerfile.wheel b/docker/Dockerfile.wheel
index e685faaf79f..08a3ae5a583 100644
--- a/docker/Dockerfile.wheel
+++ b/docker/Dockerfile.wheel
@@ -1,5 +1,5 @@
 # FROM must be called before other ARGS except for ARG BASE_IMAGE
-ARG BASE_IMAGE=nvidia/cuda:12.1.0-cudnn8-devel-ubuntu20.04
+ARG BASE_IMAGE=nvidia/cuda:12.6.3-cudnn-devel-ubuntu22.04
 FROM ${BASE_IMAGE}
 
 # Customizable build arguments from cuda.yml
@@ -119,7 +119,7 @@ RUN source /root/Open3D/util/ci_utils.sh \
  && install_python_dependencies with-jupyter
 
 # Open3D Jupyter dependencies
-RUN curl -fsSL https://deb.nodesource.com/setup_16.x | bash - \
+RUN curl -fsSL https://deb.nodesource.com/setup_18.x | bash - \
  && apt-get install -y nodejs \
  && rm -rf /var/lib/apt/lists/* \
  && node --version
diff --git a/docker/docker_build.sh b/docker/docker_build.sh
index 582aaa459bb..733b587d858 100755
--- a/docker/docker_build.sh
+++ b/docker/docker_build.sh
@@ -72,8 +72,9 @@ OPTION:
 HOST_OPEN3D_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")"/.. >/dev/null 2>&1 && pwd)"
 
 # Shared variables
-CMAKE_VERSION=cmake-3.29.2-linux-x86_64
-CMAKE_VERSION_AARCH64=cmake-3.24.4-linux-aarch64
+AARCH="$(uname -m)"
+# do cmake pending on the architecture
+CMAKE_VERSION=cmake-3.31.8-linux-${AARCH}
 CUDA_VERSION=12.6.3-cudnn
 CUDA_VERSION_LATEST=12.6.3-cudnn
 
@@ -106,7 +107,7 @@ openblas_export_env() {
         export DOCKER_TAG=open3d-ci:openblas-arm64
         export BASE_IMAGE=arm64v8/ubuntu:22.04
         export CONDA_SUFFIX=aarch64
-        export CMAKE_VERSION=${CMAKE_VERSION_AARCH64}
+        export CMAKE_VERSION=${CMAKE_VERSION}
     else
         echo "Invalid platform."
         print_usage_and_exit_docker_build
diff --git a/examples/cpp/OffscreenRendering.cpp b/examples/cpp/OffscreenRendering.cpp
index 18bc71d3b76..4d5cd37015d 100644
--- a/examples/cpp/OffscreenRendering.cpp
+++ b/examples/cpp/OffscreenRendering.cpp
@@ -16,7 +16,7 @@ using namespace open3d::visualization::rendering;
 
 // Headless rendering requires Open3D to be compiled with OSMesa support.
 // Add -DENABLE_HEADLESS_RENDERING=ON when you run CMake.
-static const bool kUseHeadless = false;
+static const bool kUseHeadless [[maybe_unused]] = false;
 
 static const std::string kOutputFilename = "offscreen.png";
 
@@ -26,9 +26,6 @@ int main(int argc, const char *argv[]) {
 
     auto &app = Application::GetInstance();
     app.Initialize(argc, argv);
-    if (kUseHeadless) {
-        EngineInstance::EnableHeadless();
-    }
 
     auto *renderer =
             new FilamentRenderer(EngineInstance::GetInstance(), width, height,
diff --git a/util/ci_utils.sh b/util/ci_utils.sh
index dc5182f159b..9ea4cbd3f65 100644
--- a/util/ci_utils.sh
+++ b/util/ci_utils.sh
@@ -31,8 +31,8 @@ TENSORFLOW_VER="2.19.0"
 TORCH_VER="2.7.1"
 TORCH_REPO_URL="https://download.pytorch.org/whl/torch/"
 # Python
-PIP_VER="24.3.1"
-PROTOBUF_VER="4.24.0"
+PIP_VER="25.1.1"
+PROTOBUF_VER="6.31.1"
 
 OPEN3D_INSTALL_DIR=~/open3d_install
 OPEN3D_SOURCE_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")"/.. >/dev/null 2>&1 && pwd)"
@@ -140,7 +140,14 @@ build_pip_package() {
     echo "Building Open3D wheel"
     options="$(echo "$@" | tr ' ' '|')"
 
-    BUILD_FILAMENT_FROM_SOURCE=OFF
+    AARCH="$(uname -m)"
+    if [[ "$AARCH" == "aarch64" ]]; then
+        echo "Building for aarch64 architecture"
+        BUILD_FILAMENT_FROM_SOURCE=ON
+    else
+        echo "Building for x86_64 architecture"
+        BUILD_FILAMENT_FROM_SOURCE=OFF
+    fi
     set +u
     if [[ -f "${OPEN3D_ML_ROOT}/set_open3d_ml_root.sh" ]] &&
         [[ "$BUILD_TENSORFLOW_OPS" == "ON" || "$BUILD_PYTORCH_OPS" == "ON" ]]; then
@@ -165,9 +172,11 @@ build_pip_package() {
     if [[ "build_jupyter" =~ ^($options)$ ]]; then
         echo "Building Jupyter extension in Python wheel."
         BUILD_JUPYTER_EXTENSION=ON
+        BUILD_WEBRTC_FROM_SOURCE=ON
     else
         echo "Jupyter extension disabled in Python wheel."
         BUILD_JUPYTER_EXTENSION=OFF
+        BUILD_WEBRTC_FROM_SOURCE=OFF
     fi
     set -u
 
@@ -184,6 +193,7 @@ build_pip_package() {
         "-DBUILD_PYTORCH_OPS=$BUILD_PYTORCH_OPS"
         "-DBUILD_FILAMENT_FROM_SOURCE=$BUILD_FILAMENT_FROM_SOURCE"
         "-DBUILD_JUPYTER_EXTENSION=$BUILD_JUPYTER_EXTENSION"
+        "-DBUILD_WEBRTC=$BUILD_WEBRTC_FROM_SOURCE"
         "-DCMAKE_INSTALL_PREFIX=$OPEN3D_INSTALL_DIR"
         "-DCMAKE_BUILD_TYPE=Release"
         "-DBUILD_UNIT_TESTS=OFF"