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A Gaussian-Particle dual representation to link the real world with the simulated one.
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2026-01-09 18:33:27
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Physically Embodied Gaussian Splatting: A Visually Learnt and Physically Grounded 3D Representation for Robotics Physically Embodied Gaussian Splatting: A Visually Learnt and Physically Grounded 3D Representation for Robotics Jad Abou-Chakra 1 , Krishan Rana 1 , Feras Dayoub 2 , Niko Suenderhauf 1 1 QUT Centre for Robotics 2 University of Adelaide Paper Code Dataset BibTex Oral Presentation @ Conference on Robot Learning 2024 Our Gaussian-Particle representation constantly corrects itself to match the real world. Abstract For robots to robustly understand and interact with the physical world, it is highly beneficial to have a comprehensive representation - modelling geometry, physics, and visual observations - that informs perception, planning, and control algorithms. We propose a novel dual "Gaussian-Particle" representation that models the physical world while (i) enabling predictive si...
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