Splat2Act reconstructs building-scale environments using 3D Gaussian Splatting for visual appearance and separate collision geometry for physical simulation.
Phone scans can personalize robot pickup policies through simulation
Splat2Act converts captured indoor spaces and object images into simulated demonstrations that adapt a vision-language-action policy without real-world teleoperation.
Big Tech
Xiaomeng Ye · Krishna Jaganathan · Gyubeum Lim · Gunjan Chhablani · Muhammad Zubair Irshad · Zsolt Kira
Georgia Institute of Technology · Waymo LLC · Toyota Research Institute
Research Digest··2 min read
Ye et al.
Why this paper
From Toyota Research Institute and 2 others
In one line
A phone scan and object images can replace real demonstrations for personalizing a VLA policy, yielding 63.9% real-world pickup success.
What we could check
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- ·No stated limitations found
- ✓Reports numbers on named benchmarks (4 benchmarks)
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