ReMoSPLAT: Reactive Mobile Manipulation Control on a Gaussian Splat

• URL: http://arxiv.org/abs/2512.09656v1
• Date: Wed, 10 Dec 2025 13:52:08 GMT
• Title: ReMoSPLAT: Reactive Mobile Manipulation Control on a Gaussian Splat
• Abstract summary: Reactive control can gracefully coordinate the motion of the base and the arm of a mobile manipulator.<n>We present ReMoSPLAT, a reactive controller based on a quadratic program formulation for mobile manipulation.
• Score: 3.983697124458495
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Reactive control can gracefully coordinate the motion of the base and the arm of a mobile manipulator. However, incorporating an accurate representation of the environment to avoid obstacles without involving costly planning remains a challenge. In this work, we present ReMoSPLAT, a reactive controller based on a quadratic program formulation for mobile manipulation that leverages a Gaussian Splat representation for collision avoidance. By integrating additional constraints and costs into the optimisation formulation, a mobile manipulator platform can reach its intended end effector pose while avoiding obstacles, even in cluttered scenes. We investigate the trade-offs of two methods for efficiently calculating robot-obstacle distances, comparing a purely geometric approach with a rasterisation-based approach. Our experiments in simulation on both synthetic and real-world scans demonstrate the feasibility of our method, showing that the proposed approach achieves performance comparable to controllers that rely on perfect ground-truth information.

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