← 3D Vision

3D Robotics Applications

Neural field-based manipulation, navigation, planning, visual localization, and active reconstruction for autonomous agents.

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Manipulation & Reinforcement Learning 17+ papers

MethodFull TitleVenueYear
Dex-NeRFUsing a Neural Radiance Field to Grasp Transparent Objects CoRL2021
NeRF-SupervisionLearning Dense Object Descriptors from Neural Radiance Fields ICRA2022
Neural Descriptor FieldsSE(3)-Equivariant Object Representations for Manipulation ICRA2022
GIGASynergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations RSS2021
NeRF2RealSim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields ICRA2023
DittoBuilding Digital Twins of Articulated Objects from Interaction CVPR2022
TranSplatSurface Embedding-guided 3DGS for Transparent Object Manipulation arXiv2025
DexFruitDexterous Manipulation and Gaussian Splatting Inspection of Fruit RAL2025
NeuralGraspsLearning Implicit Representations for Grasps of Multiple Robotic Hands CoRL2022
Grasping FieldLearning Implicit Representations for Human Grasps 3DV2020
Neural Motion FieldsEncoding Grasp Trajectories as Implicit Value Functions RSS2022
RL with NeRFReinforcement Learning with Neural Radiance Fields NeurIPS2022
Splat-MOVERSplat-MOVER: Multi-Stage Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting RSS2025
GraspSplatsGraspSplats: Efficient Manipulation with 3D Feature Splatting CoRL2024

Navigation & Planning 31+ papers

MethodFull TitleVenueYear
NeRF-NavigationVision-Only Robot Navigation in a Neural Radiance World ICRA2022
GaussNavGaussian Splatting for Visual Navigation TPAMI2025
Splat-NavSafe Real-Time Robot Navigation in Gaussian Splatting Maps TRO2025
CLIP-FieldsWeakly Supervised Semantic Fields for Robotic Memory RSS2023
SAFER-SplatControl Barrier Function for Safe Navigation with Online Gaussian Splatting Maps arXiv2024
ActiveSplatHigh-Fidelity Scene Reconstruction through Active Gaussian Splatting RAL2025
ActiveGAMERActive GAussian Mapping through Efficient Rendering CVPR2025
NARUTONeural Active Reconstruction from Uncertain Target Observations CVPR2024
FisherRFActive View Selection and Mapping with Radiance Fields Using Fisher Information ECCV2024
GS-PlannerA Gaussian-Splatting-based Planning Framework for Active High-Fidelity Reconstruction IROS2024
SOUS VIDECooking Visual Drone Navigation Policies in a Gaussian Splatting Vacuum IROS2025
VISTAOpen-Vocabulary, Task-Relevant Robot Exploration with Online Semantic Gaussian Splatting RAL2026
GauSS-MIGaussian Splatting Shannon Mutual Information for Active 3D Reconstruction RSS2025
IGL-NavIncremental 3D Gaussian Localization for Image-goal Navigation ICCV2025
GSplatLoc-NavReal-Time Gaussian Splatting-based Navigation with Online Map Update arXiv2025

Visual Localization 25+ papers

MethodFull TitleVenueYear
Loc-NeRFMonte Carlo Localization using Neural Radiance Fields ICRA2023
GSLocEfficient Camera Pose Refinement via 3D Gaussian Splatting arXiv2024
GSplatLocGrounding Keypoint Descriptors into 3D Gaussian Splatting for Improved Visual Localization arXiv2024
SplatLoc3D Gaussian Splatting-based Visual Localization for Augmented Reality arXiv2024
The NeRFect MatchExploring NeRF Features for Visual Localization ECCV2024
STDLocFrom Sparse to Dense: Camera Relocalization from Feature Gaussian Splatting CVPR2025
SGLocSemantic Localization System for Camera Pose Estimation from 3DGS IROS2025
GeomGSLiDAR-Guided Geometry-Aware Gaussian Splatting for Robot Localization arXiv2025
NeuraLocVisual Localization in Neural Implicit Map with Dual Complementary Features ICRA2025
GSFeatLocVisual Localization Using Feature Correspondence on 3D Gaussian Splatting arXiv2025
GS-LocVision Foundation Model-Driven 3DGS Framework for Robust Visual Relocalization RAL2025
3DGS-Loc3D Gaussian Splatting for Map Representation and Visual Localization JAVS2025

Reconstruction & Scene Understanding 10+ papers

MethodFull TitleVenueYear
LEGSLanguage-Embedded Gaussian Splats: Incrementally Building Room-Scale Representations arXiv2024
SiLVRScalable Lidar-Visual Radiance Field Reconstruction with Uncertainty Quantification arXiv2025
DynamicGSGDynamic 3D Gaussian Scene Graphs for Environment Adaptation arXiv2025
GS-SDFLiDAR-Augmented Gaussian Splatting and Neural SDF for Geometrically Consistent Rendering arXiv2025
DQO-MAPDual Quadrics Multi-Object Mapping with Gaussian Splatting RAL2025
SceneFactoryA Workflow-Centric and Unified Framework for Incremental Scene Modeling TRO2025
OmniMapA General Mapping Framework Integrating Optics, Geometry, and Semantics TRO2025