KCBtheonecc-by-4.0
SplatAtlas-IR: From 3DGS Inverse Rendering to Normal-Guided Robot Contact
A task-aligned benchmark of 3D Gaussian Splatting inverse-rendering methods that re-executes 11 methods on 46 scenes from 6 datasets, validates decomposed material properties (RGB, albedo, roughness, normal, metallic), and evaluates their utility for robot contact tasks through normal-guided articulated contact and roughness-conditioned pushing tests.
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Technical Profile
- Modalities
- rgbnormalalbedoroughnessmetallicdepthpoint_cloud
- Robot Embodiments
- Franka Panda
- Environment
- simulation
- Task Types
- contactpushingmanipulation
- Data Format
- tar
- License
- cc-by-4.0
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