Analytic Robot Self-Model: Learning Screw-Axis Kinematics for Rendering and Model-Based Control

cs.RO

Submitted: 2026-10-11

Updated: 2026-10-16

Comments: 26 pages, 6 figures, supplementary information included

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Sources

• SPLATART: Articulated Gaussian Splatting with Estimated Object Structure
• Calib3R: Hand-Eye Calibration and 3D Metric-Scaled Scene Reconstruction with 3D Foundation Models
• NeRF++: Analyzing and Improving Neural Radiance Fields
• SAM 3: Segment Anything with Concepts

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