Joaquim Ortiz-Haro

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

Incorporating dense visual information into motion planning remains challenging, as geometric planners rely on abstracted scene representations that discard visual richness, while learned visual models often lack geometric interpretability and computational efficiency. This paper introduces CollisionSplatting, a simple...