MrNeRF (@janusch_patas)
2024-09-08 | โค๏ธ 80 | ๐ 13
Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting
โWe summarize our contributions below: (i) We introduce ASK-Splat, a Gaussian Splatting scene model with embedded affordance and semantic features, enabling geometric, semantic, and affordance scene understanding. (ii) We propose SEE-Splat, a scene-editing module that uses 3D object masks from ASK-Splat to enable real- time editing of Gaussian Splatting scenes, reflecting the motion of objects in the scene due to the robotโs actions. (iii) We introduce Grasp-Splat, a grasp-generation module that proposes affordance-aligned grasp candidates for specified objects, leveraging the embedded affordance features in ASK-Splat.โ
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