Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting

no code implementations • 7 May 2024 • Ola Shorinwa, Johnathan Tucker, Aliyah Smith, Aiden Swann, Timothy Chen, Roya Firoozi, Monroe Kennedy III, Mac Schwager

We demonstrate the superior performance of Splat-MOVER in hardware experiments on a Kinova robot compared to two recent baselines in four single-stage, open-vocabulary manipulation tasks and in four multi-stage manipulation tasks, using the edited scene to reflect changes due to prior manipulation stages, which is not possible with existing baselines.

Grasp Generation