3DROID: A Renderable 3D Gaussian Dataset with Measured Per-Scene Reliability

arXiv:2610.01744 · cs.CV, cs.RO · Submitted 2026-10-01 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-10-01

Updated: 2026-10-01

Comments: 12 pages, 3 figures

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Calibration — 23× in this paper · explained in 7 episodes
• Fidelity — 11× in this paper · explained in 2 episodes
• Consistency — 8× in this paper · explained in 3 episodes
• Ablation — 7× in this paper · explained in 1 episode
• Alignment — 6× in this paper · explained in 1 episode
• Gaussian Splatting — 5× in this paper · explained in 4 episodes
• 3D Gaussian Splatting — 3× in this paper · explained in 2 episodes
• Point Clouds — 3× in this paper · explained in 2 episodes
• Verification — 3× in this paper · explained in 2 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Conference on Computer Vision and Pattern Recognition — 2× in this paper
• Robustness — 2× in this paper · explained in 5 episodes
• alpha — 2× in this paper · explained in 1 episode
• Ablation Studies — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Provenance — 1× in this paper · explained in 4 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• MVSplat: Efficient 3D Gaussian Splatting from Sparse Multi-View Images
• EmbodiedMAE: A Unified 3D Multi-Modal Representation for Robot Manipulation
• Lift3D-VLA: Lifting VLA Models to 3D Geometry and Dynamics-Aware Manipulation
• ZipSplat: Fewer Gaussians, Better Splats
• Efficient Camera Pose Augmentation for View Generalization in Robotic Policy Learning
• Robo3R: Enhancing Robotic Manipulation with Accurate Feed-Forward 3D Reconstruction
• No Pose, No Problem: Surprisingly Simple 3D Gaussian Splats from Sparse Unposed Images
• 4D-VLA: Spatiotemporal Vision-Language-Action Pretraining with Cross-Scene Calibration

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