Learning Action-Conditional and Object-Centric Gaussian Splatting World Models for Rigid Objects
Fuente:
arXiv
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2026
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866914622767890432 |
|---|---|
| author | Kreber, Jens U. Mack, Lukas Stueckler, Joerg |
| author_facet | Kreber, Jens U. Mack, Lukas Stueckler, Joerg |
| contents | World models enable intelligent agents to predict the consequences of their actions on the environment. In this paper, we propose Multi Rigid Object Gaussian World Model (MRO-GWM), a novel model that learns action-conditional dynamics of rigid objects in 3D. By representing the scene by object-centric Gaussians, we can represent arbitrary object shapes and multi-object scenes. We develop a novel spatio-temporal transformer architecture that predicts future rigid body motion from a history of object Gaussians and future actions. Objects are represented by their Gaussians in a canonical frame, which allows for describing object motion as rigid body transformation. Our model is trained on reconstructions from multiple viewpoints, which requires the model to handle partial observations of objects due to occlusions. We analyze prediction performance of our approach on synthetic datasets composed of typical household objects with multi-object dynamics and interactions by a robot end effector. We also evaluate our model in model-predictive control for non-prehensile manipulation in simulation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2606_01950 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Learning Action-Conditional and Object-Centric Gaussian Splatting World Models for Rigid Objects Kreber, Jens U. Mack, Lukas Stueckler, Joerg Robotics Computer Vision and Pattern Recognition Machine Learning World models enable intelligent agents to predict the consequences of their actions on the environment. In this paper, we propose Multi Rigid Object Gaussian World Model (MRO-GWM), a novel model that learns action-conditional dynamics of rigid objects in 3D. By representing the scene by object-centric Gaussians, we can represent arbitrary object shapes and multi-object scenes. We develop a novel spatio-temporal transformer architecture that predicts future rigid body motion from a history of object Gaussians and future actions. Objects are represented by their Gaussians in a canonical frame, which allows for describing object motion as rigid body transformation. Our model is trained on reconstructions from multiple viewpoints, which requires the model to handle partial observations of objects due to occlusions. We analyze prediction performance of our approach on synthetic datasets composed of typical household objects with multi-object dynamics and interactions by a robot end effector. We also evaluate our model in model-predictive control for non-prehensile manipulation in simulation. |
| title | Learning Action-Conditional and Object-Centric Gaussian Splatting World Models for Rigid Objects |
| topic | Robotics Computer Vision and Pattern Recognition Machine Learning |
| url | https://arxiv.org/abs/2606.01950 |