3D Gaussian Splatting

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REAP: Reinforcement-Learning End-to-End Autonomous Parking with Gaussian Splatting Simulator for Real2Sim2Real Transfer
May 9, 2026Changze Li, Zhe Chen, Shaoyu Chen +7Autonomous Driving Simulation Autonomous Driving
A Note on Non-Negative $L_1$ -Approximating Polynomials
May 8, 2026Jane H. Lee, Anay Mehrotra, Manolis ZampetakisPolynomials Lipschitz Constant
Generative 3D Gaussians with Learned Density Control
May 8, 2026Runjie Yan, Yan-Pei Cao, Peng Wang +23D Gaussian Generative Models
Don't Get Your Kroneckers in a Twist: Gaussian Processes on High-Dimensional Incomplete Grids
May 8, 2026Mads Greisen Højlund, August Smart Lykke-Møller, Henry Moss +1Gaussian Process Computational Chemistry
PropSplat: Map-Free RF Field Reconstruction via 3D Gaussian Propagation Splatting
May 8, 2026William Bjorndahl, Maninder Pal Singh, Farhad Nouri +1High-Fidelity Radio Map Construction Radio Frequency
Differentiable Ray Tracing with Gaussians for Unified Radio Propagation Simulation and View Synthesis
May 8, 2026Niklas Vaara, Lam Huynh, Pekka Sangi +2Geometry-Aware Ray Casting Radio Frequency
Tessellations of Semi-Discrete Flow Matching
May 8, 2026Emile Pierret, Johannes Hertrich, Samuel Hurault +1Conditional Flow Matching Optimal Transport
Disambiguating 2D-3D Correspondences in Gaussian Splatting-based Feature Fields for Visual Localization
May 8, 2026Miso Lee, Sangeek Hyun, Yerim Jeon +1Sequential Visual Localization 3D Gaussian Splatting
SplatWeaver: Learning to Allocate Gaussian Primitives for Generalizable Novel View Synthesis
May 8, 2026Yecong Wan, Fan Li, Mingwen Shao +1Novel View Synthesis 3D Gaussian Splatting
From Pixels to Primitives: Scene Change Detection in 3D Gaussian Splatting
May 8, 2026Chamuditha Jayanga Galappaththige, Jason Lai, Timothy Patten +3Change Detection Gaussian Splatting
AsyncEvGS: Asynchronous Event-Assisted Gaussian Splatting for Handheld Motion-Blurred Scenes
May 8, 2026Jun Dai, Renbiao Jin, Bo Xu +5Dynamic Scene Reconstruction Motion Blur
SatSurfGS: Generalizable 2D Gaussian Splatting for Sparse-View Satellite Surface Reconstruction
May 8, 2026Min Chen, Wei Guo, Bin Wang +9High-Fidelity Surface Reconstruction Gaussian Splatting
AdpSplit: Error-Driven Adaptive Splitting for Faster Geometry Discovery in 3D Gaussian Splatting
May 7, 2026Yongjae Lee, Jingxing Li, Abhay Kumar Yadav +23D Gaussian Splats Real3D-Ad Datasets
Uncertainty-Guided Edge Learning for Deep Image Regression in Remote Sensing
May 7, 2026Anh Vu Nguyen, Dino Sejdinovic, Tat-Jun ChinRemote Sensing Pixel-Level Prediction
Grokability in five inequalities
May 6, 2026Paata Ivanisvili, Xinyuan XieInequalities Convex Sets
Estimating the expected output of wide random MLPs more efficiently than sampling
May 6, 2026Wilson Wu, Victor Lecomte, Michael Winer +3Monte Carlo Multilayer Perceptrons
Aes3D: Aesthetic Assessment in 3D Gaussian Splatting
May 6, 2026Chuanzhi Xu, Boyu Wei, Haoxian Zhou +53D Gaussian Splats 3D Scenes
Transformed Latent Variable Multi-Output Gaussian Processes
May 6, 2026Xiaoyu Jiang, Xinxing Shi, Sokratia Georgaka +2Gaussian Process Latent Variable
Neural Discovery of Strichartz Extremizers
May 6, 2026Nicolás Valenzuela, Ricardo Freire, Claudio MuñozInequalities Extremes
QuadBox: Accelerating 3D Gaussian Splatting with Geometry-Aware Boxes
May 6, 2026Xinze Li, Bohan Yang, Pengxu Chen +43D Gaussian Rasterization
Ilov3Splat: Instance-Level Open-Vocabulary 3D Scene Understanding in Gaussian Splatting
May 6, 2026Binh Long Nguyen, Kien Nguyen, Sridha Sridharan +23D Scene Understanding 3D Gaussian Splats
Globally Solving Unbalanced Optimal Transport and Density Control for Gaussian Distributions
May 5, 2026Haruto Nakashima, Siddhartha Ganguly, Kenji KashimaOptimal Transport Optimal Control
FreeTimeGS++: Secrets of Dynamic Gaussian Splatting and Their Principles
May 5, 2026Lucas Yunkyu Lee, Soonho Kim, Youngwook Kim +2Gaussian Splatting Dynamic Scene Reconstruction
HumanSplatHMR: Closing the Loop Between Human Mesh Recovery and Gaussian Splatting Avatar
May 4, 2026Yeheng Zong, Pou-Chun Kung, Yike Pan +4Avatar Reconstruction Human Mesh Recovery
Mixture Prototype Flow Matching for Open-Set Supervised Anomaly Detection
May 4, 2026Fuyun Wang, Yuanzhi Wang, Xu Guo +6Reconstruction-Based Anomaly Detection Anomaly Detection
Denoising data using convex relaxations
May 4, 2026Charles Fefferman, Aalok Gangopadhyay, Matti Lassas +2Sparse Recovery Image Denoising
From Spherical to Gaussian: A Comparative Analysis of Point Cloud Cropping Strategies in Large-Scale 3D Environments
May 3, 2026Maximilian Kellner, Dominik Merkle, Michael Brunklaus +13D Environments Sphere
GETA-3DGS: Automatic Joint Structured Pruning and Quantization for 3D Gaussian Splatting
May 3, 2026Baobing Zhang, Wanxin Sui3D Gaussian Novel View Synthesis
High-Fidelity Mobile Avatars with Pruned Local Blendshapes
May 3, 2026Youyi Zhan, He Wang, Tianjia Shao +1Animatable 3D Human Avatars High-Fidelity Avatar
SplAttN: Bridging 2D and 3D with Gaussian Soft Splatting and Attention for Point Cloud Completion
May 2, 2026Zhaoyang Li, Zhichao You, Tianrui LiGaussian Splatting Cross-Modal Learning
Mean Testing under Truncation beyond Gaussian
May 2, 2026Yuhao Wang, Roberto Imbuzeiro Oliveira, Themis GouleakisTruncation Regularity
2D-SuGaR: Surface-Aware Gaussian Splatting for Geometrically Accurate Mesh Reconstruction
May 1, 2026Prajwal Gupta C. R., Divyam Sheth, Jinjoo Ha +2High-Fidelity Surface Reconstruction Gaussian Splatting
GOR-IS: 3D Gaussian Object Removal in the Intrinsic Space
May 1, 2026Yonghao Zhao, Yupeng Gao, Jian Yang +2Neural Radiance Fields Inpainting
Beyond Heuristics: Learnable Density Control for 3D Gaussian Splatting
May 1, 2026Zhenhua Ning, Xin Li, Jun Yu +33D Gaussian Splats Heuristics
VkSplat: High-Performance 3DGS Training in Vulkan Compute
Apr 30, 2026Jingxiang Chen, Mohamed Ibrahim, Yang Liu3D Gaussian Splats Pytorch
FieryGS: In-the-Wild Fire Synthesis with Physics-Integrated Gaussian Splatting
Apr 30, 2026Qianfan Shen, Ningxiao Tao, Qiyu Dai +6Combustion Control 3D Gaussian Splats
Stop Holding Your Breath: CT-Informed Gaussian Splatting for Dynamic Bronchoscopy
Apr 30, 2026Andrea Dunn Beltran, Daniel Rho, Aarav Mehta +5Stable Biliary Cannulation Respiratory Sound Classification
FreeOcc: Training-Free Embodied Open-Vocabulary Occupancy Prediction
Apr 30, 2026Zeyu Jiang, Changqing Zhou, Xingxing Zuo +13D Semantic Occupancy Prediction Occupancy
GSDrive: Reinforcing Driving Policies by Multi-mode Future Trajectory Probing with 3D Gaussian Splatting Environment
Apr 30, 2026Ziang Guo, Chen Min, Xuefeng Zhang +5Autonomous Driving Autonomous Hard Drive Disassembly
Faster 3D Gaussian Splatting Convergence via Structure-Aware Densification
Apr 30, 2026Linjie Lyu, Ayush Tewari, Jianchun Chen +23D Gaussian 3D Gaussian Splatting
Softmax-GS: Generalized Gaussians Learning When to Blend or Bound
Apr 30, 2026Chen Ziwen, Peng Wang, Hao Tan +23D Gaussian Splats Novel View Synthesis
Two-View Accumulation as the Primary Training Lever for Hybrid-Capture Gaussian Splatting: A Variance-Decomposition View of When Gradient Surgery Helps
Apr 29, 2026Sungjun Cho3D Gaussian Splats Gaussian Splatting
MesonGS++: Post-training Compression of 3D Gaussian Splatting with Hyperparameter Searching
Apr 29, 2026Shuzhao Xie, Junchen Ge, Weixiang Zhang +103D Gaussian Splats 3D Gaussian
EnerGS: Energy-Based Gaussian Splatting with Partial Geometric Priors
Apr 29, 2026Rui Song, Tianhui Cai, Markus Gross +5Gaussian Splatting Geometric Priors
Generalizable Human Gaussian Splatting via Multi-view Semantic Consistency
Apr 28, 2026Jingi Kim, Wonjun Kim3D Gaussian Splats 3D Gaussian Splatting
Multivariate Gaussian NeRF for Wide Field-of-View Ultrasound Reconstruction
Apr 27, 2026Patris Valera, Magdalena Wysocki, Felix Duelmer +4Ultrasound Neural Radiance Fields
Light 'em Up: Enabling Few-Shot Low-Light 3D Gaussian Splatting with Multi-Scale Explicit Retinex Illumination Decoupling
Apr 27, 2026YuHao Yin, Zongji Wang, Yuanben Zhang +3Novel View Synthesis Low-Light Image Enhancement
SMoES: Soft Modality-Guided Expert Specialization in MoE-VLMs
Apr 27, 2026Zi-Hao Bo, Yaqian Li, Anzhou Hou +6Large Vision Language Models Point-Vlms
Bringing a Personal Point of View: Evaluating Dynamic 3D Gaussian Splatting for Egocentric Scene Reconstruction
Apr 26, 2026Jan Warchocki, Xi Wang, Jonas Kulhanek +13D Gaussian Splats Monocular Videos
GS-DOT: Gaussian splatting-based image reconstruction for diffuse optical tomography
Apr 26, 2026Jingjing JiangGaussian Splatting Image Reconstruction
Spatiotemporal Degradation-Aware 3D Gaussian Splatting for Realistic Underwater Scene Reconstruction
Apr 26, 2026Shaohua Liu, Ning Gao, Zuoya Gu +3Underwater Image Enhancement Underwater Imagery
NRGS: Neural Regularization for Robust 3D Semantic Gaussian Splatting
Apr 24, 2026Zaiyan Yang, Xinpeng Liu, Heng Guo +33D Gaussian 3D Semantic Segmentation
EvFlow-GS: Event Enhanced Motion Deblurring with Optical Flow for 3D Gaussian Splatting
Apr 24, 2026Feiyu An, Yufei Deng, Zihui Zhang +1Optical Flow Gaussian Splatting
PAGaS: Pixel-Aligned 1DoF Gaussian Splatting for Depth Refinement
Apr 24, 2026David Recasens, Robert Maier, Aljaz Bozic +4Gaussian Splatting Novel View Synthesis
DualSplat: Robust 3D Gaussian Splatting via Pseudo-Mask Bootstrapping from Reconstruction Failures
Apr 23, 2026Xu Wang, Zhiru Wang, Shiyun Xie +23D Gaussian Splats 3D Gaussian
Novelty-Based Generation of Continuous Landscapes with Diverse Local Optima Networks
Apr 23, 2026Kippei Mizuta, Shoichiro Tanaka, Shuhei Tanaka +1Optimization Landscape Evolutionary Search
You Only Gaussian Once: Controllable 3D Gaussian Splatting for Ultra-Densely Sampled Scenes
Apr 23, 2026Jinrang Jia, Zhenjia Li, Yifeng Shi3D Gaussian Splats Neural Rendering
WildSplatter: Feed-forward 3D Gaussian Splatting with Appearance Control from Unconstrained Images
Apr 23, 2026Yuki Fujimura, Takahiro Kushida, Kazuya Kitano +23D Gaussian Splats Feed-Forward 3D Gaussian Splatting
Scale-Parameter Selection in Gaussian Kolmogorov-Arnold Networks
Apr 23, 2026Amir Noorizadegan, Sifan WangKolmogorov-Arnold Networks 3D Gaussian Splatting
GeoRect4D: Geometry-Compatible Generative Rectification for Dynamic Sparse-View 3D Reconstruction
Apr 22, 2026Zhenlong Wu, Zihan Zheng, Xuanxuan Wang +53D Reconstruction Surface Reconstruction

May 9, 2026 · cs.ROJ/K move · Enter open · S save

REAP: Reinforcement-Learning End-to-End Autonomous Parking with Gaussian Splatting Simulator for Real2Sim2Real Transfer

Changze Li, Zhe Chen, Shaoyu Chen, Lisen Mu+6

Horizon Robotics Technology Research and Development Co., Ltd.

In recent years, autonomous parking has made significant advances, yet parking tasks still face challenges in extreme scenarios such as mechanical and dead-end parking slots, often resulting in failures. This is mainly due to traditional parking methods adopting a multistage approach, lacking the ability to optimize the parking problem as a whole. End-to-end methods enable joint optimization across perception and planning modules to eliminate the accumulation of errors, enhancing algorithm performance in extreme scenarios. Although several end-to-end parking methods use imitation or reinforcement learning, the former is limited by data cost and distribution coverage, while the latter suffers from inefficient exploration. To address these challenges, we propose a Reinforcement learning End-to-end Autonomous Parking method (REAP). REAP employs Soft Actor-Critic (SAC) within an asymmetric reinforcement learning framework to improve training efficiency and inference performance. To accelerate model convergence, we distill the capabilities of a rule-based planner into the end-to-end network through behavior cloning. We further introduce a soft predictive collision penalty mechanism to reduce collision rates by penalizing obstacle-approaching actions. To ensure that the trained reinforcement learning network can directly transfer to real-world scenarios, we have established a Real2Sim2Real simulator. In the Real2Sim step, we use 3D Gaussian Splatting (3DGS) to transform real-world scenes into digital scenes. In the Sim2Real step, we deploy the end-to-end model onto the vehicle to bridge the Sim2Real gap. Trained in the 3DGS simulator and deployed on physical vehicles, REAP successfully parks in various types of parking spaces, especially demonstrating the feasibility of end-to-end RL parking in extremely narrow mechanical slots.

Autonomous Driving Simulation Autonomous Driving Sim-To-Real Gap Collision Prediction Efficient Exploration 3D Gaussian Splats

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