Robotics

January 18, 2026 · View on GitHub

Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Cameras

Authors: Huajian Huang, Longwei Li, Hui Cheng, Sai-Kit Yeung
Links: [arXiv:2311.16728]

Gaussian Splatting SLAM

Authors: Hidenobu Matsuki, Riku Murai, Paul HJ Kelly, Andrew J Davison
Links: [arXiv:2312.06741]

Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting

Authors: Vladimir Yugay, Yue Li, Theo Gevers, Martin R Oswald
Links: [arXiv:2312.10070]

GS-SLAM: Dense Visual SLAM with 3D Gaussian Splatting

Authors: Chi Yan, Delin Qu, Dong Wang, Dan Xu, Zhigang Wang, Bin Zhao, Xuelong Li
Links: [arXiv:2311.11700]

Splatam: Splat, track & map 3d gaussians for dense rgb-d slam

Authors: Nikhil Keetha, Jay Karhade, Krishna Murthy Jatavallabhula, Gengshan Yang, Sebastian Scherer, Deva Ramanan, Jonathon Luiten
Links: [arXiv:2312.02126]

LIV-GaussMap: LiDAR-Inertial-Visual Fusion for Real-time 3D Radiance Field Map Rendering

Authors: Sheng Hong, Junjie He, Xinhu Zheng, Hesheng Wang, Hao Fang, Kangcheng Liu, Chunran Zheng, Shaojie Shen
Links: [arXiv:2401.14857]

NEDS-SLAM: A Novel Neural Explicit Dense Semantic SLAM Framework using 3D Gaussian Splatting

Authors: Yiming Ji, Yang Liu, Guanghu Xie, Boyu Ma, Zongwu Xie
Links: [arXiv:2403.11679]

High-Fidelity SLAM Using Gaussian Splatting with Rendering-Guided Densification and Regularized Optimization

Authors: Shuo Sun, Malcolm Mielle, Achim J Lilienthal, Martin Magnusson
Links: [arXiv:2403.12535]

How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Survey

Authors: Fabio Tosi, Youmin Zhang, Ziren Gong, Erik Sandstr{"o}m, Stefano Mattoccia, Martin R Oswald, Matteo Poggi
Links: [arXiv:2402.13255]

SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAM

Authors: Mingrui Li, Shuhong Liu, Heng Zhou
Links: [arXiv:2402.03246]

Semgauss-slam: Dense semantic gaussian splatting slam

Authors: Siting Zhu, Renjie Qin, Guangming Wang, Jiuming Liu, Hesheng Wang
Links: [arXiv:2403.07494]

Compact 3d gaussian splatting for dense visual slam

Authors: Tianchen Deng, Yaohui Chen, Leyan Zhang, Jianfei Yang, Shenghai Yuan, Danwei Wang, Weidong Chen
Links: [arXiv:2403.11247]

CG-SLAM: Efficient Dense RGB-D SLAM in a Consistent Uncertainty-aware 3D Gaussian Field

Authors: Jiarui Hu, Xianhao Chen, Boyin Feng, Guanglin Li, Liangjing Yang, Hujun Bao, Guofeng Zhang, Zhaopeng Cui
Links: [arXiv:2403.16095]

Gaussian-LIC: Photo-realistic LiDAR-Inertial-Camera SLAM with 3D Gaussian Splatting

Authors: Xiaolei Lang, Laijian Li, Hang Zhang, Feng Xiong, Mu Xu, Yong Liu, Xingxing Zuo, Jiajun Lv
Links: [arXiv:2404.06926]

RTG-SLAM: Real-time 3D Reconstruction at Scale using Gaussian Splatting

Authors: Zhexi Peng, Tianjia Shao, Yong Liu, Jingke Zhou, Yin Yang, Jingdong Wang, Kun Zhou
Links: [arXiv:2404.19706]

ManiGaussian: Dynamic Gaussian Splatting for Multi-task Robotic Manipulation

Authors: Guanxing Lu, Shiyi Zhang, Ziwei Wang, Changliu Liu, Jiwen Lu, Yansong Tang
Links: [arXiv:2403.08321]

Physically Embodied Gaussian Splatting: A Realtime Correctable World Model for Robotics

Authors: Jad Abou-Chakra, Krishan Rana, Feras Dayoub, Niko S{"u}nderhauf
Links: [arXiv:2406.10788]

Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting

Authors: Olaolu Shorinwa, Johnathan Tucker, Aliyah Smith, Aiden Swann, Timothy Chen, Roya Firoozi, Monroe David Kennedy, Mac Schwager
Links: [arXiv:2405.04378]

GraspSplats: Efficient Manipulation with 3D Feature Splatting

Authors: Mazeyu Ji, Ri-Zhao Qiu, Xueyan Zou, Xiaolong Wang
Links: [arXiv:2409.02084]

GaussianGrasper: 3D Language Gaussian Splatting for Open-vocabulary Robotic Grasping

Authors: Yuhang Zheng, Xiangyu Chen, Yupeng Zheng, Songen Gu, Runyi Yang, Bu Jin, Pengfei Li, Chengliang Zhong, Zengmao Wang, Lina Liu, others
Links: [arXiv:2403.09637]

STAMICS: Splat, Track And Map with Integrated Consistency and Semantics for Dense RGB-D SLAM

Authors: Yongxu Wang, Xu Cao, Weiyun Yi, Zhaoxin Fan
Links: [arXiv:2503.21425]

Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation

Authors: Sizhe Yang, Wenye Yu, Jia Zeng, Jun Lv, Kerui Ren, Cewu Lu, Dahua Lin, Jiangmiao Pang
Links: [arXiv:2504.13175]

Scan, Materialize, Simulate: A Generalizable Framework for Physically Grounded Robot Planning

Authors: Amine Elhafsi, Daniel Morton, Marco Pavone
Links: [arXiv:2505.14938]

GrowSplat: Constructing Temporal Digital Twins of Plants with Gaussian Splats

Authors: Simeon Adebola, Shuangyu Xie, Chung Min Kim, Justin Kerr, Bart M. van Marrewijk, Mieke van Vlaardingen, Tim van Daalen, E.N. van Loo, Jose Luis Susa Rincon, Eugen Solowjow, Rick van de Zedde, Ken Goldberg
Links: [arXiv:2505.10923]

Large-Scale Gaussian Splatting SLAM

Authors: Zhe Xin, Chenyang Wu, Penghui Huang, Yanyong Zhang, Yinian Mao, Guoquan Huang
Links: [arXiv:2505.09915]

Real2Render2Real: Scaling Robot Data Without Dynamics Simulation or Robot Hardware

Authors: Justin Yu, Letian Fu, Huang Huang, Karim El-Refai, Rares Andrei Ambrus, Richard Cheng, Muhammad Zubair Irshad, Ken Goldberg
Links: [arXiv:2505.09601]

GSFF-SLAM: 3D Semantic Gaussian Splatting SLAM via Feature Field

Authors: Zuxing Lu, Xin Yuan, Shaowen Yang, Jingyu Liu, Jiawei Wang, Changyin Sun
Links: [arXiv:2504.19409]

ToF-Splatting: Dense SLAM using Sparse Time-of-Flight Depth and Multi-Frame Integration

Authors: Andrea Conti, Matteo Poggi, Valerio Cambareri, Martin R. Oswald, Stefano Mattoccia
Links: [arXiv:2504.16545]

Green Robotic Mixed Reality with Gaussian Splatting

Authors: Chenxuan Liu, He Li, Zongze Li, Shuai Wang, Wei Xu, Kejiang Ye, Derrick Wing Kwan Ng, Chengzhong Xu
Links: [arXiv:2504.13697]

BEV-GS: Feed-forward Gaussian Splatting in Bird's-Eye-View for Road Reconstruction

Authors: Wenhua Wu, Tong Zhao, Chensheng Peng, Lei Yang, Yintao Wei, Zhe Liu, Hesheng Wang
Links: [arXiv:2504.13207]

Stereo 3D Gaussian Splatting SLAM for Outdoor Urban Scenes

Authors: Xiaohan Li, Ziren Gong, Fabio Tosi, Matteo Poggi, Stefano Mattoccia, Dong Liu, Jun Wu
Links: [arXiv:2507.23677]

I2V-GS: Infrastructure-to-Vehicle View Transformation with Gaussian Splatting for Autonomous Driving Data Generation

Authors: Jialei Chen, Wuhao Xu, Sipeng He, Baoru Huang, Dongchun Ren
Links: [arXiv:2507.23683]

S3LAM: Surfel Splatting SLAM for Geometrically Accurate Tracking and Mapping

Authors: Ruoyu Fan, Yuhui Wen, Jiajia Dai, Tao Zhang, Long Zeng, Yong-jin Liu
Links: [arXiv:2507.20854]

GAF: Gaussian Action Field as a Dynamic World Model for Robotic Manipulation

Authors: Ying Chai, Litao Deng, Ruizhi Shao, Jiajun Zhang, Liangjun Xing, Hongwen Zhang, Yebin Liu
Links: [arXiv:2506.14135]

DrivingGaussian++: Towards Realistic Reconstruction and Editable Simulation for Surrounding Dynamic Driving Scenes

Authors: Yajiao Xiong, Xiaoyu Zhou, Yongtao Wan, Deqing Sun, Ming-Hsuan Yang
Links: [arXiv:2508.20965]

Fiducial Marker Splatting for High-Fidelity Robotics Simulations

Authors: Diram Tabaa, Gianni Di Caro
Links: [arXiv:2508.17012]