A hybrid 3D Gaussian splatting plus explicit mesh representation, optimized end-to-end with differentiable rendering and physics, reconstructs objects and calibrates robot poses from imperfect real-world RGB trajectories.
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Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data
A hybrid 3D Gaussian splatting plus explicit mesh representation, optimized end-to-end with differentiable rendering and physics, reconstructs objects and calibrates robot poses from imperfect real-world RGB trajectories.