{"id":"https://openalex.org/W4417292205","doi":"https://doi.org/10.48550/arxiv.2512.09656","title":"ReMoSPLAT: Reactive Mobile Manipulation Control on a Gaussian Splat","display_name":"ReMoSPLAT: Reactive Mobile Manipulation Control on a Gaussian Splat","publication_year":2025,"publication_date":"2025-12-10","ids":{"openalex":"https://openalex.org/W4417292205","doi":"https://doi.org/10.48550/arxiv.2512.09656"},"language":null,"primary_location":{"id":"pmh:oai:arXiv.org:2512.09656","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2512.09656","pdf_url":"https://arxiv.org/pdf/2512.09656","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2512.09656","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5099096823","display_name":"Nicol\u00e1s Marticorena","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marticorena, Nicolas","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084005703","display_name":"Tobias Fischer","orcid":"https://orcid.org/0000-0001-8227-001X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fischer, Tobias","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5112359435","display_name":"Niko Suenderhauf","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Suenderhauf, Niko","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.7714999914169312,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.7714999914169312,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.09640000015497208,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10879","display_name":"Robotic Locomotion and Control","score":0.0364999994635582,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6662999987602234},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5494999885559082},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.5206999778747559},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5069000124931335},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4846999943256378},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.45419999957084656},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.44510000944137573},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4187999963760376},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.39959999918937683},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.3853999972343445}],"concepts":[{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6662999987602234},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5843999981880188},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5494999885559082},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.5206999778747559},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5069000124931335},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4846999943256378},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45419999957084656},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.44510000944137573},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4187999963760376},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.39959999918937683},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3853999972343445},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.38260000944137573},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.3790999948978424},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.37389999628067017},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3709000051021576},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3646000027656555},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.357699990272522},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.34439998865127563},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3424000144004822},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.33390000462532043},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3319000005722046},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3314000070095062},{"id":"https://openalex.org/C2776639384","wikidata":"https://www.wikidata.org/wiki/Q840396","display_name":"Ideal (ethics)","level":2,"score":0.32100000977516174},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.31540000438690186},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.31209999322891235},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3059000074863434},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.2928999960422516},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2827000021934509},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.2782999873161316},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.27480000257492065},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2696000039577484},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26600000262260437},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.25920000672340393},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.25609999895095825},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.25540000200271606}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2512.09656","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2512.09656","pdf_url":"https://arxiv.org/pdf/2512.09656","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2512.09656","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.09656","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2512.09656","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2512.09656","pdf_url":"https://arxiv.org/pdf/2512.09656","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4417292205.pdf","grobid_xml":"https://content.openalex.org/works/W4417292205.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Reactive":[0],"control":[1],"can":[2,76],"gracefully":[3],"coordinate":[4],"the":[5,8,11,23,69,92,121,124,141],"motion":[6],"of":[7,13,22,94,123],"base":[9],"and":[10,66,117],"arm":[12],"a":[14,33,41,46,55,72,103,108,144],"mobile":[15,51,73],"manipulator.":[16],"However,":[17],"incorporating":[18],"an":[19],"accurate":[20],"representation":[21,58],"environment":[24],"to":[25,130],"avoid":[26],"obstacles":[27],"without":[28],"involving":[29],"costly":[30],"planning":[31],"remains":[32],"challenge.":[34],"In":[35],"this":[36],"work,":[37],"we":[38],"present":[39],"ReMoSPLAT,":[40],"reactive":[42],"controller":[43],"based":[44],"on":[45,114,134,143],"quadratic":[47],"program":[48],"formulation":[49],"for":[50,59,97],"manipulation":[52],"that":[53,132],"leverages":[54],"Gaussian":[56],"Splat":[57],"collision":[60],"avoidance.":[61],"By":[62],"integrating":[63],"additional":[64],"constraints":[65],"costs":[67],"into":[68],"optimisation":[70],"formulation,":[71],"manipulator":[74],"platform":[75,147],"reach":[77],"its":[78],"intended":[79],"end":[80],"effector":[81],"pose":[82],"while":[83],"avoiding":[84],"obstacles,":[85],"even":[86],"in":[87],"cluttered":[88],"scenes.":[89],"We":[90,138],"investigate":[91],"trade-offs":[93],"two":[95],"methods":[96],"efficiently":[98],"calculating":[99],"robot-obstacle":[100],"distances,":[101],"comparing":[102],"purely":[104],"geometric":[105],"approach":[106,142],"with":[107],"rasterisation-based":[109],"approach.":[110],"Our":[111],"simulation":[112],"experiments":[113],"both":[115],"synthetic":[116],"real-world":[118],"scans":[119],"demonstrate":[120],"feasibility":[122],"proposed":[125],"method,":[126],"achieving":[127],"performance":[128],"comparable":[129],"controllers":[131],"rely":[133],"perfect":[135],"ground-truth":[136],"information.":[137],"further":[139],"validate":[140],"real":[145],"robot":[146],"more":[148],"details:":[149],"https://remosplat.github.io":[150]},"counts_by_year":[],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-12-12T00:00:00"}