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Object-Aware Gaussian Splatting for Robotic Manipulation
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2026-01-22 12:44:52
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Object-Aware Gaussian Splatting for Robotic Manipulation Object-Aware Gaussian Splatting for Robotic Manipulation ICRA 2024 Workshop on 3D Manipulation Yulong Li , Deepak Pathak 1 Carnegie Mellon University Paper Object-centric Gaussian splatting reconstructs dynamic robotic manipulation scenes in real-time at 30Hz with semantic features . Abstract 3D Understanding of the environment is critical for the robustness and performance of robot learning systems. As an example, 2D image-based policies can easily fail due to a slight change in camera viewpoints. However, when constructing a 3D representation, previous approaches often either sacrifice the rich semantic abilities of 2D foundation models or a fast update rate that is crucial real-time robotic manipulation. In this work, we propose a 3D representation based on 3D Gaussians that is both semantic and dynamic. With only a single or a few camera views, our proposed representation is able to cap...
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