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    "headline": "The Planner Checked Collisions Inside Gaussian Splat Scenes",
    "slug": "the-planner-checked-collisions-inside-gaussian-splat-scenes",
    "dek": "An adjustable distance metric joined geometric safety costs with image-conditioned objectives.",
    "summary": "An adjustable distance metric joined geometric safety costs with image-conditioned objectives.",
    "body_text": "CollisionSplatting defines a probability-inspired distance measure that operates directly on standard 3D Gaussian Splatting scenes. The team integrated it with GPU-accelerated model-predictive and tree-search planners so collision costs can be combined with learned image-space rewards. The authors report collision classification on par with or better than representative baselines, higher checking throughput and lower graphics-memory use, plus real-world navigation and manipulation demonstrations. Exact tradeoffs depend on scene reconstruction quality and the selected conservatism setting.",
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    "tags": [
      "motion planning",
      "3D Gaussian splatting",
      "collision checking"
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      "title": "arXiv preprint 2609.35619",
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    "title": "The Planner Checked Collisions Inside Gaussian Splat Scenes",
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