ArtiTwinSplat: Interactable Digital Twin Reconstruction via Gaussian Splatting from RGB-D videos

arXiv:2606.24628v1 Announce Type: new Abstract: Deploying robots in unstructured real-world environments needs accurate, interactive models of the objects. Constructing these models at scale remains a critical bottleneck for robotic system integration. We present ArtiTwinSplat, a framework that automatically constructs articulated, photo-realistic digital twins of objects directly from RGB-D videos, requiring no CAD models, simulation assets, or manual annotations. Our method is built on 3D Gaus...