CollisionSplatting: Collision-Aware Motion Planning in 3DGS Scenes with Image-Conditioned Objectives and Adjustable Conservatism

arXiv:2609.35619 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-09-28

Code: https://github.com/machines-in-motion/CollisionSplatting

Terminology

• Gaussian Splatting — 7× in this paper · explained in 4 episodes
• World Model — 3× in this paper · explained in 7 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Accuracy — 2× in this paper · explained in 1 episode
• Control Barrier Function — 2× in this paper
• 3D Gaussian Splatting — 1× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Action-Conditioned World Model — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Control Barrier Function (CBF) — 1× in this paper · explained in 5 episodes
• Core — 1× in this paper · explained in 2 episodes
• Covariance Propagation — 1× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• GPU-accelerated Rapidly-Exploring Random Tree — 1× in this paper
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Interpretability — 1× in this paper · explained in 15 episodes
• Model Predictive Path Integral — 1× in this paper
• Model Predictive Path Integral (MPPI) — 1× in this paper · explained in 3 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Theoretical Guarantees — 1× in this paper · explained in 2 episodes
• alpha — 1× in this paper · explained in 1 episode

Sources

• Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps
• SAFER-Splat: A Control Barrier Function for Safe Navigation with Online Gaussian Splatting Maps
• ATLAS Navigator: Active Task-driven LAnguage-embedded Gaussian Splatting
• Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo
• gsplat: An Open-Source Library for Gaussian Splatting

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