Performing language-conditioned robotic manipulation tasks in unstructured environments is highly demanded for general intelligent robots. Conventional robotic manipulation methods usually learn semantic representation of the observation for action prediction, which ignores the scene-level spatiotemporal dynamics for human goal completion. In this paper, we propose a dynamic Gaussian Splatting method named ManiGaussian for multi-task robotic manipulation, which mines scene dynamics via future scene reconstruction. Specifically, we first formulate the dynamic Gaussian Splatting framework that infers the semantics propagation in the Gaussian embedding space, where the semantic representation is leveraged to predict the optimal robot action. Then, we build a Gaussian world model to parameterize the distribution in our dynamic Gaussian Splatting framework, which provides informative supervision in the interactive environment via future scene reconstruction. We evaluate our ManiGaussian on 10 RLBench tasks with 166 variations, and the results demonstrate our framework can outperform the state-of-the-art methods by 13.1\% in average success rate. Project page: https://guanxinglu.github.io/ManiGaussian/.
ManiGaussian++: General Robotic Bimanual Manipulation with Hierarchical Gaussian World Model
Tsinghua Shenzhen International Graduate School, Tsinghua University（清华大学深圳国际研究生院，清华大学）；School of Computer Science and Technology, Hainan University（海南大学计算机科学与技术学院）；School of Electrical and Electronic Engineering, Nanyang Technological University（南洋理工大学电子与电气工程学院）；Department of Automation, Tsinghua University（清华大学自动化学院）
Embodied Multimodal Grounding for Open-Vocabulary Mobile Manipulation via Semantic 3D Gaussian Splatting
The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；Midea Group（美的集团）；The Hong Kong University of Science and Technology（香港科技大学）
GaussianGrasper: 3D Language Gaussian Splatting for Open-vocabulary Robotic Grasping
Beihang University（北京航空航天大学）；EncoSmart（恩科智能）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；AIR, Tsinghua University（清华大学AIR）；Imperial College London（帝国理工学院）；China Mobile Research Institute（中国移动研究院）；Wuhan University（武汉大学）；Shanghai AI Laboratory（上海人工智能实验室）；the University of Hong Kong（香港大学）
High-Fidelity Simulated Data Generation for Real-World Zero-Shot Robotic Manipulation Learning with Gaussian Splatting
Wuhan University（武汉大学）；DAMO Academy, Alibaba Group（达摩院，阿里巴巴集团）；Hupan Lab（虎扑实验室）；The Chinese University of Hong Kong（香港中文大学）；Tsinghua University（清华大学）；Huazhong University of Science and Technology（华中科技大学）；Zhejiang University（浙江大学）
Learning human-to-robot handovers through 3D scene reconstruction
Centre for Intelligent Sensing, Queen Mary University of London（智能感知中心，伦敦女王玛丽大学）；Idiap Research Institute and École Polytechnique Fédérale de Lausanne（Idiap研究机构和瑞士洛桑联邦理工学院）
RL-GSBridge: 3D Gaussian Splatting Based Real2Sim2Real Method for Robotic Manipulation Learning
Shenzhen Research Institute of Shanghai Jiao Tong University（上海交通大学深圳研究院）；Shanghai Jiao Tong University（上海交通大学）；School of Information and Control Engineering, China University of Mining and Technology（中国矿业大学信息与控制工程学院）；University of Cambridge（剑桥大学）
RoboTidy : A 3D Gaussian Splatting Household Tidying Benchmark for Embodied Navigation and Action
Huazhong University of Science and Technology（华中科技大学）；The University of Hong Kong（香港大学）；INFIFORCE Intelligent Technology Co., Ltd.（INFIFORCE智能技术有限公司）；Zhejiang University（浙江大学）；Guangming Lab, Shenzhen（深圳光明实验室）
TrAME: Trajectory-Anchored Multi-View Editing for Text-Guided 3D Gaussian Splatting Manipulation
School of Information Science and Technology, University of Science and Technology of China（中国科学技术大学信息科学技术学院）；Space AI, Li Auto（理想汽车空间人工智能部门）；Department of Automation, Tsinghua University（清华大学自动化系）
RoboGSim: A Real2Sim2Real Robotic Gaussian Splatting Simulator
Harbin Institute of Technology, Shenzhen（哈尔滨工业大学（深圳））；Institute of Computing Technology, Chinese Academy of Sciences（中国科学院计算技术研究所）；MEGVII Technology（商汤科技）；Zhejiang University（浙江大学）
GASE: Gaussian Splatting-Based Automated System for Reconstructing Embodied-Simulation Environments
AutoLab, SAI, Shanghai Jiao Tong University（上海交通大学SAI学院AutoLab实验室）；AIM3 Lab, School of Information, Renmin University of China（中国人民大学信息学院AIM3实验室）；Research Lab, Anyverse Dynamics（Anyverse Dynamics研究实验室）
Neural Surface Priors for Editable Gaussian Splatting
IDEAS NCBR；Adam Mickiewicz University（亚当·密茨凯维奇大学）；Wrocław University of Science and Technology（弗罗茨瓦夫理工大学）；Jagiellonian University（雅盖隆大学）；Tooploox；New Jersey Institute of Technology（新泽西理工学院）
3DitScene: Editing Any Scene via Language-guided Disentangled Gaussian Splatting
The Chinese University of Hong Kong（香港中文大学）；Stanford University（斯坦福大学）；Snap Inc.（Snap公司）；University of California Los Angeles（加利福尼亚大学洛杉矶分校）；ByteDance（字节跳动）
Department of Electronics Engineering, Sogang University（西江大学电子工程系）；NAVER Cloud Corp（NAVER Cloud公司）；Department of Electrical & Electronics Engineering, Pusan National University（釜山国立大学电气与电子工程系）
3DSceneEditor: Controllable 3D Scene Editing with Gaussian Splatting
D Optical Metrology unit, Fondazione Bruno Kessler（3D光学测绘单元，布鲁诺·凯斯勒基金会）；Department of Information Engineering and Computer Science, University of Trento（信息工程与计算机科学系，特伦托大学）
BLaDA: Bridging Language to Functional Dexterous Actions within 3DGS Fields
School of Artificial Intelligence and Robotics, Hunan University（湖南大学人工智能与机器人学院）；National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University（机器人视觉感知与控制技术国家工程研究中心，湖南大学）；Key Laboratory of Advanced Manufacturing Technology of the Ministry of Education, Guizhou University（教育部贵州大学先进制造技术重点实验室）
