$\textbf{Splat-MOVER}$: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting

arXiv:2405.04378v1 Announce Type: cross
Abstract: We present Splat-MOVER, a modular robotics stack for open-vocabulary robotic manipulation, which leverages the editability of Gaussian Splatting (GSplat) scene representations to enable multi-stage manipulation tasks. Splat-MOVER consists of: (i) $\textit{ASK-Splat}$, a GSplat representation that distills latent codes for language semantics and grasp affordance into the 3D scene. ASK-Splat enables geometric, semantic, and affordance understanding of 3D scenes, which is critical for many robotics tasks; (ii) $\textit{SEE-Splat}$, a real-time scene-editing module using 3D semantic masking …

abstract arxiv cs.cv cs.ro language manipulation modular mover representation robotic robotic manipulation robotics semantics stack stage tasks type via