{"id":"https://openalex.org/W4413925306","doi":"https://doi.org/10.1109/icra55743.2025.11128002","title":"Gaussian Splatting Visual MPC for Granular Media Manipulation","display_name":"Gaussian Splatting Visual MPC for Granular Media Manipulation","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925306","doi":"https://doi.org/10.1109/icra55743.2025.11128002"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128002","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078942855","display_name":"Wei-Cheng Tseng","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Wei-Cheng Tseng","raw_affiliation_strings":["University of Toronto"],"affiliations":[{"raw_affiliation_string":"University of Toronto","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114232235","display_name":"Ellina Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ellina Zhang","raw_affiliation_strings":["University of Toronto"],"affiliations":[{"raw_affiliation_string":"University of Toronto","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047370393","display_name":"Krishna Murthy Jatavallabhula","orcid":"https://orcid.org/0000-0003-4927-3387"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Krishna Murthy Jatavallabhula","raw_affiliation_strings":["MIT CSAIL"],"affiliations":[{"raw_affiliation_string":"MIT CSAIL","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010648258","display_name":"Florian Shkurti","orcid":"https://orcid.org/0000-0002-5672-5831"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Florian Shkurti","raw_affiliation_strings":["University of Toronto"],"affiliations":[{"raw_affiliation_string":"University of Toronto","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5078942855"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.46422168,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3176","last_page":"3182"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9758999943733215,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.972100019454956,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7286988496780396},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.52164226770401},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4955490827560425},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38296207785606384},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3687792420387268},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12520018219947815}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7286988496780396},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.52164226770401},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4955490827560425},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38296207785606384},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3687792420387268},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12520018219947815},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128002","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W2211722331","https://openalex.org/W2469863283","https://openalex.org/W2963121255","https://openalex.org/W2963627347","https://openalex.org/W2963926543","https://openalex.org/W3109585842","https://openalex.org/W3166648240","https://openalex.org/W3175388581","https://openalex.org/W4221143294","https://openalex.org/W4221155806","https://openalex.org/W4385318467","https://openalex.org/W4385430450","https://openalex.org/W4402716153"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Recent":[0],"advancements":[1],"in":[2,10,51,71,131,150],"learned":[3],"3D":[4],"representations":[5],"have":[6],"enabled":[7],"significant":[8,157],"progress":[9],"solving":[11],"complex":[12,119],"robotic":[13],"manipulation":[14,74,120,160,168],"tasks,":[15],"particularly":[16],"for":[17,106,118],"rigid-body":[18],"objects.":[19],"However,":[20],"manipulating":[21,107],"granular":[22,72,108,125,166],"materials":[23],"such":[24],"as":[25],"beans,":[26],"nuts,":[27],"and":[28,41,54,102,134,145,159],"rice":[29],"remains":[30],"challenging":[31],"due":[32,75],"to":[33,46,69,76,140,147,164],"the":[34,55],"intricate":[35],"physics":[36],"of":[37,58,79,100,124],"particle":[38],"interactions,":[39],"high-dimensional":[40],"partially":[42],"observable":[43],"state,":[44],"inability":[45],"visually":[47],"track":[48],"individual":[49],"particles":[50],"a":[52,77,87,92,151],"pile,":[53],"computational":[56],"demands":[57],"accurate":[59],"dynamics":[60,65,94],"prediction.":[61],"Current":[62],"deep":[63],"latent":[64],"models":[66],"often":[67],"struggle":[68],"generalize":[70,146],"material":[73],"lack":[78],"inductive":[80],"biases.":[81],"In":[82],"this":[83,104],"work,":[84],"we":[85],"propose":[86],"novel":[88],"approach":[89,130],"that":[90],"learns":[91],"visual":[93],"model":[95,105],"over":[96],"Gaussian":[97],"splatting":[98],"repre-sentations":[99],"scenes":[101],"leverages":[103],"media":[109,167],"via":[110],"Model-Predictive":[111],"Control.":[112],"Our":[113],"method":[114],"enables":[115],"efficient":[116],"optimization":[117],"tasks":[121,144],"on":[122],"piles":[123],"media.":[126],"We":[127,154],"evaluate":[128],"our":[129],"both":[132],"simulated":[133],"real-world":[135],"settings,":[136],"demonstrating":[137],"its":[138],"ability":[139],"solve":[141],"unseen":[142],"planning":[143],"new":[148],"environments":[149],"zero-shot":[152],"transfer.":[153],"also":[155],"show":[156],"prediction":[158],"performance":[161],"improvements":[162],"compared":[163],"existing":[165],"methods.":[169]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
