Abstract
Comment: Presented at the ICRA 2026 Workshop on Advances and Challenges in AI-Driven Automation and Robotic System Integration with Digital Twins, Vienna, June 2026
ArtiTwinSplat: Interactable Digital Twin Reconstruction via Gaussian Splatting from RGB-D videos
- Authors
- Pranjal Mishra, René Zurbrügg, Max Wilder-Smith...
- Categories
- cs.RO, cs.CV
Brief
ArtiTwinSplat is an end-to-end framework that builds articulated, photo-realistic digital twins from RGB-D videos by combining 3D Gaussian Splatting for geometric and photometric fidelity with an unsupervised pipeline that recovers part structure and joint kinematics from observed motion. The method yields stable, queryable models for real-time rendering and manipulation, intended to lower integration barriers for robotic systems (summary based on the paper abstract).
Why it matters
ArtiTwinSplat reconstructs articulated, photo-realistic digital twins directly from RGB-D videos using 3D Gaussian Splatting and an unsupervised articulation discovery pipeline, and requires no CAD models, simulation assets, or manual annotations.
Key details
- Produced twins support real-time rendering, viewpoint control, interactive manipulation, and are claimed to be immediately usable for downstream robot planning and learning; work presented at the ICRA 2026 Workshop (Vienna, June 2026).