Jul 27, 2026 · cs.ROJ/K move · Enter open · S save
Mikołaj Zieliński, David Hall, Dominik Belter, Peyman Moghadam
Institute of Robotics and Machine Intelligence, Poznan University of Technology, 61-131 Pozna´n, Poland · CSIRO Robotics, CSIRO, Australia
In this paper, we present NEO, a unified framework providing language-guided NeRF editing for robotic manipulation. Our paper introduces (i) a language-guided object removal that combines neural field resampling with multiview-consistent progressive inpainting, (ii) a direct NeRF weight editing method utilizing knowledge distillation, composing original and edited NeRFs via a teacher-student model, enabling coherent modeling of future scene states before a robot executes an action, and (iii) the first benchmark (NEO-Dataset) for quantitatively evaluating NeRF scene editing methods suitable for robot manipulation. We show that our approach outperforms state-of-the-art baselines in scene editing tasks, including object removal and pick-and-place robotic experiments, yielding visually coherent and geometrically consistent edits that reduce artifacts commonly introduced by prior methods.