{"id":"https://openalex.org/W4405786332","doi":"https://doi.org/10.1109/iros58592.2024.10801348","title":"Reinforcement Learning with Generalizable Gaussian Splatting","display_name":"Reinforcement Learning with Generalizable Gaussian Splatting","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786332","doi":"https://doi.org/10.1109/iros58592.2024.10801348"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5101468620","display_name":"Jiaxu Wang","orcid":"https://orcid.org/0000-0003-1277-6896"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiaxu Wang","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100381999","display_name":"Qiang Zhang","orcid":"https://orcid.org/0000-0003-3776-9799"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qiang Zhang","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049574394","display_name":"Jingkai Sun","orcid":"https://orcid.org/0000-0002-1032-2957"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jingkai Sun","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015422529","display_name":"Jiahang Cao","orcid":"https://orcid.org/0000-0003-4338-4414"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiahang Cao","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100899705","display_name":"Gang Han","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Han","raw_affiliation_strings":["Beijing Innovation Center of Humanoid Robotics Co., Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Innovation Center of Humanoid Robotics Co., Ltd","institution_ids":["https://openalex.org/I4210165198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111526799","display_name":"Wen Zhao","orcid":"https://orcid.org/0009-0002-9728-3950"},"institutions":[{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen Zhao","raw_affiliation_strings":["Beijing Innovation Center of Humanoid Robotics Co., Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Innovation Center of Humanoid Robotics Co., Ltd","institution_ids":["https://openalex.org/I4210165198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101637027","display_name":"Weining Zhang","orcid":"https://orcid.org/0000-0002-6642-8822"},"institutions":[{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weining Zhang","raw_affiliation_strings":["Beijing Innovation Center of Humanoid Robotics Co., Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Innovation Center of Humanoid Robotics Co., Ltd","institution_ids":["https://openalex.org/I4210165198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043133324","display_name":"Yecheng Shao","orcid":"https://orcid.org/0000-0001-5946-4238"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yecheng Shao","raw_affiliation_strings":["Zhejiang University,Center for X-Mechanics,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Center for X-Mechanics,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100572173","display_name":"Yijie Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yijie Guo","raw_affiliation_strings":["Beijing Innovation Center of Humanoid Robotics Co., Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Innovation Center of Humanoid Robotics Co., Ltd","institution_ids":["https://openalex.org/I4210165198"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100616654","display_name":"Renjing Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Renjing Xu","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2219,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.83902865,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"435","last_page":"441"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12676","display_name":"Machine Learning and ELM","score":0.571399986743927,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T12676","display_name":"Machine Learning and ELM","score":0.571399986743927,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T12761","display_name":"Data Stream Mining Techniques","score":0.522599995136261,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.761035680770874},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7449284195899963},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.4967084527015686},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49356400966644287},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.42785143852233887},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.41860106587409973},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.12090224027633667},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.056274741888046265}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.761035680770874},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7449284195899963},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.4967084527015686},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49356400966644287},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.42785143852233887},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.41860106587409973},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.12090224027633667},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.056274741888046265},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/iros58592.2024.10801348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W2133665775","https://openalex.org/W2194775991","https://openalex.org/W2796426482","https://openalex.org/W2962785568","https://openalex.org/W2962793285","https://openalex.org/W2963177347","https://openalex.org/W2963634205","https://openalex.org/W2968257580","https://openalex.org/W3056171435","https://openalex.org/W3090369311","https://openalex.org/W3092774272","https://openalex.org/W3138516171","https://openalex.org/W3179923621","https://openalex.org/W3207187156","https://openalex.org/W3215769467","https://openalex.org/W4200150166","https://openalex.org/W4252279978","https://openalex.org/W4312280420","https://openalex.org/W4328007461","https://openalex.org/W4385245566","https://openalex.org/W4385318467","https://openalex.org/W4386075787","https://openalex.org/W4386083092","https://openalex.org/W4388077848","https://openalex.org/W4401415384","https://openalex.org/W4402733571","https://openalex.org/W6738746681","https://openalex.org/W6757469721","https://openalex.org/W6763422710","https://openalex.org/W6765456200","https://openalex.org/W6780179280","https://openalex.org/W6780752319","https://openalex.org/W6782766965","https://openalex.org/W6783068448","https://openalex.org/W6784173345","https://openalex.org/W6790944140","https://openalex.org/W6799150178","https://openalex.org/W6802659552","https://openalex.org/W6847110631","https://openalex.org/W6848655643","https://openalex.org/W6849110486","https://openalex.org/W6849470356","https://openalex.org/W6850244851","https://openalex.org/W6853388095","https://openalex.org/W6855562989","https://openalex.org/W6861050944"],"related_works":["https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W2920061524","https://openalex.org/W1977959518","https://openalex.org/W2038908348","https://openalex.org/W2107890255","https://openalex.org/W2106552856","https://openalex.org/W2145821588","https://openalex.org/W2086122291","https://openalex.org/W1987513656"],"abstract_inverted_index":{"An":[0],"excellent":[1],"representation":[2,21,97,110,126,176],"is":[3,102,166],"crucial":[4],"for":[5,107,177],"reinforcement":[6,13],"learning":[7,14,28],"(RL)":[8],"performance,":[9],"especially":[10],"in":[11,134,146],"vision-based":[12,31],"tasks.":[15],"The":[16],"quality":[17],"of":[18,26,127],"the":[19,24,27,125,135,150,161,167],"environment":[20],"directly":[22],"influences":[23],"achievement":[25],"task.":[29,163],"Previous":[30],"RL":[32,128],"typically":[33],"uses":[34],"explicit":[35,95],"or":[36,64,70],"implicit":[37,77],"ways":[38],"to":[39,67,82,123,170],"represent":[40],"environments,":[41],"such":[42],"as":[43,174],"images,":[44],"points,":[45],"voxels,":[46],"and":[47,98,109,155],"neural":[48,78],"radiance":[49],"fields.":[50],"However,":[51],"these":[52,76],"representations":[53,79],"contain":[54],"several":[55],"drawbacks.":[56],"They":[57],"cannot":[58],"either":[59],"describe":[60],"complex":[61],"local":[62],"geometries":[63],"generalize":[65],"well":[66],"unseen":[68],"scenes,":[69],"require":[71],"precise":[72],"foreground":[73],"masks.":[74],"Moreover,":[75],"are":[80],"akin":[81],"a":[83,104,117,175],"\"black":[84],"box\",":[85],"significantly":[86],"hindering":[87],"interpretability.":[88],"3D":[89],"Gaussian":[90,120],"Splatting":[91,121],"(3DGS),":[92],"with":[93,158],"its":[94],"scene":[96],"differentiable":[99],"rendering":[100],"nature,":[101],"considered":[103],"revolutionary":[105],"change":[106],"reconstruction":[108],"methods.":[111],"In":[112],"this":[113],"paper,":[114],"we":[115],"propose":[116],"novel":[118],"Generalizable":[119],"framework":[122],"be":[124],"tasks,":[129,148],"called":[130],"GSRL.":[131],"Through":[132],"validation":[133],"RoboMimic":[136],"environment,":[137],"our":[138],"method":[139],"achieves":[140],"better":[141],"results":[142],"than":[143],"other":[144],"baselines":[145,159],"multiple":[147],"improving":[149],"performance":[151],"by":[152],"10%,":[153],"44%,":[154],"15%":[156],"compared":[157],"on":[160],"hardest":[162],"This":[164],"work":[165],"first":[168],"attempt":[169],"leverage":[171],"generalizable":[172],"3DGS":[173],"RL.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}