RoboSplat
[RSS 2025] Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation
파일 탐색기
최종 버전 다운로드 (.zip)- teaser.jpg
- augment_util.py
- camera_util.py
- data_record_util.py
- gaussian_util.py
- robot_util.py
- util.py
- generate_demo.py
- auxiliary.h
- backward.cu
- backward.h
- config.h
- forward.cu
- forward.h
- rasterizer.h
- rasterizer_impl.cu
- rasterizer_impl.h
- __init__.py
- cmake_uninstall.cmake.in
- _features.hpp
- _fixes.hpp
- _noise.hpp
- _swizzle.hpp
- _swizzle_func.hpp
- _vectorize.hpp
- compute_common.hpp
- compute_vector_relational.hpp
- func_common.inl
- func_common_simd.inl
- func_exponential.inl
- func_exponential_simd.inl
- func_geometric.inl
- func_geometric_simd.inl
- func_integer.inl
- func_integer_simd.inl
- func_matrix.inl
- func_matrix_simd.inl
- func_packing.inl
- func_packing_simd.inl
- func_trigonometric.inl
- func_trigonometric_simd.inl
- func_vector_relational.inl
- func_vector_relational_simd.inl
- glm.cpp
- qualifier.hpp
- setup.hpp
- type_float.hpp
- type_half.hpp
- type_half.inl
- type_mat2x2.hpp
- type_mat2x2.inl
- type_mat2x3.hpp
- type_mat2x3.inl
- type_mat2x4.hpp
- type_mat2x4.inl
- type_mat3x2.hpp
- type_mat3x2.inl
- type_mat3x3.hpp
- type_mat3x3.inl
- type_mat3x4.hpp
- type_mat3x4.inl
- type_mat4x2.hpp
- type_mat4x2.inl
- type_mat4x3.hpp
- type_mat4x3.inl
- type_mat4x4.hpp
- type_mat4x4.inl
- type_mat4x4_simd.inl
- type_quat.hpp
- type_quat.inl
- type_quat_simd.inl
- type_vec1.hpp
- type_vec1.inl
- type_vec2.hpp
- type_vec2.inl
- type_vec3.hpp
- type_vec3.inl
- type_vec4.hpp
- type_vec4.inl
- type_vec4_simd.inl
- _matrix_vectorize.hpp
- matrix_clip_space.hpp
- matrix_clip_space.inl
- matrix_common.hpp
- matrix_common.inl
- matrix_double2x2.hpp
- matrix_double2x2_precision.hpp
- matrix_double2x3.hpp
- matrix_double2x3_precision.hpp
- matrix_double2x4.hpp
- matrix_double2x4_precision.hpp
- matrix_double3x2.hpp
- matrix_double3x2_precision.hpp
- matrix_double3x3.hpp
- matrix_double3x3_precision.hpp
- matrix_double3x4.hpp
- matrix_double3x4_precision.hpp
- matrix_double4x2.hpp
- matrix_double4x2_precision.hpp
- matrix_double4x3.hpp
- matrix_double4x3_precision.hpp
- matrix_double4x4.hpp
- matrix_double4x4_precision.hpp
- matrix_float2x2.hpp
- matrix_float2x2_precision.hpp
- matrix_float2x3.hpp
- matrix_float2x3_precision.hpp
- matrix_float2x4.hpp
- matrix_float2x4_precision.hpp
- matrix_float3x2.hpp
- matrix_float3x2_precision.hpp
- matrix_float3x3.hpp
- matrix_float3x3_precision.hpp
- matrix_float3x4.hpp
- matrix_float3x4_precision.hpp
- matrix_float4x2.hpp
- matrix_float4x2_precision.hpp
- matrix_float4x3.hpp
- matrix_float4x3_precision.hpp
- matrix_float4x4.hpp
- matrix_float4x4_precision.hpp
- matrix_int2x2.hpp
- matrix_int2x2_sized.hpp
- matrix_int2x3.hpp
- matrix_int2x3_sized.hpp
- matrix_int2x4.hpp
- matrix_int2x4_sized.hpp
- matrix_int3x2.hpp
- matrix_int3x2_sized.hpp
- matrix_int3x3.hpp
- matrix_int3x3_sized.hpp
- matrix_int3x4.hpp
- matrix_int3x4_sized.hpp
- matrix_int4x2.hpp
- matrix_int4x2_sized.hpp
- matrix_int4x3.hpp
- matrix_int4x3_sized.hpp
- matrix_int4x4.hpp
- matrix_int4x4_sized.hpp
- matrix_integer.hpp
- matrix_integer.inl
- matrix_projection.hpp
- matrix_projection.inl
- matrix_relational.hpp
- matrix_relational.inl
- matrix_transform.hpp
- matrix_transform.inl
- matrix_uint2x2.hpp
- matrix_uint2x2_sized.hpp
- matrix_uint2x3.hpp
- matrix_uint2x3_sized.hpp
- matrix_uint2x4.hpp
- matrix_uint2x4_sized.hpp
- matrix_uint3x2.hpp
- matrix_uint3x2_sized.hpp
- matrix_uint3x3.hpp
- matrix_uint3x3_sized.hpp
- matrix_uint3x4.hpp
- matrix_uint3x4_sized.hpp
- matrix_uint4x2.hpp
- matrix_uint4x2_sized.hpp
- matrix_uint4x3.hpp
- matrix_uint4x3_sized.hpp
- matrix_uint4x4.hpp
- matrix_uint4x4_sized.hpp
- quaternion_common.hpp
- quaternion_common.inl
- quaternion_common_simd.inl
- quaternion_double.hpp
- quaternion_double_precision.hpp
- quaternion_exponential.hpp
- quaternion_exponential.inl
- quaternion_float.hpp
- quaternion_float_precision.hpp
- quaternion_geometric.hpp
- quaternion_geometric.inl
- quaternion_relational.hpp
- quaternion_relational.inl
- quaternion_transform.hpp
- quaternion_transform.inl
- quaternion_trigonometric.hpp
- quaternion_trigonometric.inl
- scalar_common.hpp
- scalar_common.inl
- scalar_constants.hpp
- scalar_constants.inl
- scalar_int_sized.hpp
- scalar_integer.hpp
- scalar_integer.inl
- scalar_packing.hpp
- scalar_packing.inl
- scalar_reciprocal.hpp
- scalar_reciprocal.inl
- scalar_relational.hpp
- scalar_relational.inl
- scalar_uint_sized.hpp
- scalar_ulp.hpp
- scalar_ulp.inl
- vector_bool1.hpp
- vector_bool1_precision.hpp
- vector_bool2.hpp
- vector_bool2_precision.hpp
- vector_bool3.hpp
- vector_bool3_precision.hpp
- vector_bool4.hpp
- vector_bool4_precision.hpp
- vector_common.hpp
- vector_common.inl
- vector_double1.hpp
- vector_double1_precision.hpp
- vector_double2.hpp
- vector_double2_precision.hpp
- vector_double3.hpp
- vector_double3_precision.hpp
- vector_double4.hpp
- vector_double4_precision.hpp
- vector_float1.hpp
- vector_float1_precision.hpp
- vector_float2.hpp
- vector_float2_precision.hpp
- vector_float3.hpp
- vector_float3_precision.hpp
- vector_float4.hpp
- vector_float4_precision.hpp
- vector_int1.hpp
- vector_int1_sized.hpp
- vector_int2.hpp
- vector_int2_sized.hpp
- vector_int3.hpp
- vector_int3_sized.hpp
- vector_int4.hpp
- vector_int4_sized.hpp
- vector_integer.hpp
- vector_integer.inl
- vector_packing.hpp
- vector_packing.inl
- vector_reciprocal.hpp
- vector_reciprocal.inl
- vector_relational.hpp
- vector_relational.inl
- vector_uint1.hpp
- vector_uint1_sized.hpp
- vector_uint2.hpp
- vector_uint2_sized.hpp
- vector_uint3.hpp
- vector_uint3_sized.hpp
- vector_uint4.hpp
- vector_uint4_sized.hpp
- vector_ulp.hpp
- vector_ulp.inl
- bitfield.hpp
- bitfield.inl
- color_space.hpp
- color_space.inl
- constants.hpp
- constants.inl
- epsilon.hpp
- epsilon.inl
- integer.hpp
- integer.inl
- matrix_access.hpp
- matrix_access.inl
- matrix_integer.hpp
- matrix_inverse.hpp
- matrix_inverse.inl
- matrix_transform.hpp
- matrix_transform.inl
- noise.hpp
- noise.inl
- packing.hpp
- packing.inl
- quaternion.hpp
- quaternion.inl
- quaternion_simd.inl
- random.hpp
- random.inl
- reciprocal.hpp
- round.hpp
- round.inl
- type_aligned.hpp
- type_precision.hpp
- type_precision.inl
- type_ptr.hpp
- type_ptr.inl
- ulp.hpp
- ulp.inl
- vec1.hpp
- associated_min_max.hpp
- associated_min_max.inl
- bit.hpp
- bit.inl
- closest_point.hpp
- closest_point.inl
- color_encoding.hpp
- color_encoding.inl
- color_space.hpp
- color_space.inl
- color_space_YCoCg.hpp
- color_space_YCoCg.inl
- common.hpp
- common.inl
- compatibility.hpp
- compatibility.inl
- component_wise.hpp
- component_wise.inl
- dual_quaternion.hpp
- dual_quaternion.inl
- easing.hpp
- easing.inl
- euler_angles.hpp
- euler_angles.inl
- extend.hpp
- extend.inl
- extended_min_max.hpp
- extended_min_max.inl
- exterior_product.hpp
- exterior_product.inl
- fast_exponential.hpp
- fast_exponential.inl
- fast_square_root.hpp
- fast_square_root.inl
- fast_trigonometry.hpp
- fast_trigonometry.inl
- float_notmalize.inl
- functions.hpp
- functions.inl
- gradient_paint.hpp
- gradient_paint.inl
- handed_coordinate_space.hpp
- handed_coordinate_space.inl
- hash.hpp
- hash.inl
- integer.hpp
- integer.inl
- intersect.hpp
- intersect.inl
- io.hpp
- io.inl
- log_base.hpp
- log_base.inl
- matrix_cross_product.hpp
- matrix_cross_product.inl
- matrix_decompose.hpp
- matrix_decompose.inl
- matrix_factorisation.hpp
- matrix_factorisation.inl
- matrix_interpolation.hpp
- matrix_interpolation.inl
- matrix_major_storage.hpp
- matrix_major_storage.inl
- matrix_operation.hpp
- matrix_operation.inl
- matrix_query.hpp
- matrix_query.inl
- matrix_transform_2d.hpp
- matrix_transform_2d.inl
- mixed_product.hpp
- mixed_product.inl
- norm.hpp
- norm.inl
- normal.hpp
- normal.inl
- normalize_dot.hpp
- normalize_dot.inl
- number_precision.hpp
- number_precision.inl
- optimum_pow.hpp
- optimum_pow.inl
- orthonormalize.hpp
- orthonormalize.inl
- pca.hpp
- pca.inl
- perpendicular.hpp
- perpendicular.inl
- polar_coordinates.hpp
- polar_coordinates.inl
- projection.hpp
- projection.inl
- quaternion.hpp
- quaternion.inl
- range.hpp
- raw_data.hpp
- raw_data.inl
- rotate_normalized_axis.hpp
- rotate_normalized_axis.inl
- rotate_vector.hpp
- rotate_vector.inl
- scalar_multiplication.hpp
- scalar_relational.hpp
- scalar_relational.inl
- spline.hpp
- spline.inl
- std_based_type.hpp
- std_based_type.inl
- string_cast.hpp
- string_cast.inl
- texture.hpp
- texture.inl
- transform.hpp
- transform.inl
- transform2.hpp
- transform2.inl
- type_aligned.hpp
- type_aligned.inl
- type_trait.hpp
- type_trait.inl
- vec_swizzle.hpp
- vector_angle.hpp
- vector_angle.inl
- vector_query.hpp
- vector_query.inl
- wrap.hpp
- wrap.inl
- common.h
- exponential.h
- geometric.h
- integer.h
- matrix.h
- neon.h
- packing.h
- platform.h
- trigonometric.h
- vector_relational.h
- CMakeLists.txt
- common.hpp
- exponential.hpp
- ext.hpp
- fwd.hpp
- geometric.hpp
- glm.hpp
- integer.hpp
- mat2x2.hpp
- mat2x3.hpp
- mat2x4.hpp
- mat3x2.hpp
- mat3x3.hpp
- mat3x4.hpp
- mat4x2.hpp
- mat4x3.hpp
- mat4x4.hpp
- matrix.hpp
- packing.hpp
- trigonometric.hpp
- vec2.hpp
- vec3.hpp
- vec4.hpp
- vector_relational.hpp
- bug_ms_vec_static.cpp
- CMakeLists.txt
- CMakeLists.txt
- test_find_glm.cpp
- CMakeLists.txt
- core_cpp_constexpr.cpp
- core_cpp_defaulted_ctor.cpp
- core_force_aligned_gentypes.cpp
- core_force_arch_unknown.cpp
- core_force_compiler_unknown.cpp
- core_force_ctor_init.cpp
- core_force_cxx03.cpp
- core_force_cxx98.cpp
- core_force_cxx_unknown.cpp
- core_force_depth_zero_to_one.cpp
- core_force_explicit_ctor.cpp
- core_force_inline.cpp
- core_force_left_handed.cpp
- core_force_platform_unknown.cpp
- core_force_pure.cpp
- core_force_quat_xyzw.cpp
- core_force_size_t_length.cpp
- core_force_unrestricted_gentype.cpp
- core_force_xyzw_only.cpp
- core_func_common.cpp
- core_func_exponential.cpp
- core_func_geometric.cpp
- core_func_integer.cpp
- core_func_integer_bit_count.cpp
- core_func_integer_find_lsb.cpp
- core_func_integer_find_msb.cpp
- core_func_matrix.cpp
- core_func_noise.cpp
- core_func_packing.cpp
- core_func_swizzle.cpp
- core_func_trigonometric.cpp
- core_func_vector_relational.cpp
- core_setup_force_cxx98.cpp
- core_setup_force_size_t_length.cpp
- core_setup_message.cpp
- core_setup_platform_unknown.cpp
- core_setup_precision.cpp
- core_type_aligned.cpp
- core_type_cast.cpp
- core_type_ctor.cpp
- core_type_int.cpp
- core_type_length.cpp
- core_type_mat2x2.cpp
- core_type_mat2x3.cpp
- core_type_mat2x4.cpp
- core_type_mat3x2.cpp
- core_type_mat3x3.cpp
- core_type_mat3x4.cpp
- core_type_mat4x2.cpp
- core_type_mat4x3.cpp
- core_type_mat4x4.cpp
- core_type_vec1.cpp
- core_type_vec2.cpp
- core_type_vec3.cpp
- core_type_vec4.cpp
- CMakeLists.txt
- ext_matrix_clip_space.cpp
- ext_matrix_common.cpp
- ext_matrix_int2x2_sized.cpp
- ext_matrix_int2x3_sized.cpp
- ext_matrix_int2x4_sized.cpp
- ext_matrix_int3x2_sized.cpp
- ext_matrix_int3x3_sized.cpp
- ext_matrix_int3x4_sized.cpp
- ext_matrix_int4x2_sized.cpp
- ext_matrix_int4x3_sized.cpp
- ext_matrix_int4x4_sized.cpp
- ext_matrix_integer.cpp
- ext_matrix_projection.cpp
- ext_matrix_relational.cpp
- ext_matrix_transform.cpp
- ext_matrix_uint2x2_sized.cpp
- ext_matrix_uint2x3_sized.cpp
- ext_matrix_uint2x4_sized.cpp
- ext_matrix_uint3x2_sized.cpp
- ext_matrix_uint3x3_sized.cpp
- ext_matrix_uint3x4_sized.cpp
- ext_matrix_uint4x2_sized.cpp
- ext_matrix_uint4x3_sized.cpp
- ext_matrix_uint4x4_sized.cpp
- ext_quaternion_common.cpp
- ext_quaternion_exponential.cpp
- ext_quaternion_geometric.cpp
- ext_quaternion_relational.cpp
- ext_quaternion_transform.cpp
- ext_quaternion_trigonometric.cpp
- ext_quaternion_type.cpp
- ext_scalar_common.cpp
- ext_scalar_constants.cpp
- ext_scalar_int_sized.cpp
- ext_scalar_integer.cpp
- ext_scalar_packing.cpp
- ext_scalar_reciprocal.cpp
- ext_scalar_relational.cpp
- ext_scalar_uint_sized.cpp
- ext_scalar_ulp.cpp
- ext_vec1.cpp
- ext_vector_bool1.cpp
- ext_vector_common.cpp
- ext_vector_iec559.cpp
- ext_vector_int1_sized.cpp
- ext_vector_int2_sized.cpp
- ext_vector_int3_sized.cpp
- ext_vector_int4_sized.cpp
- ext_vector_integer.cpp
- ext_vector_integer_sized.cpp
- ext_vector_packing.cpp
- ext_vector_reciprocal.cpp
- ext_vector_relational.cpp
- ext_vector_uint1_sized.cpp
- ext_vector_uint2_sized.cpp
- ext_vector_uint3_sized.cpp
- ext_vector_uint4_sized.cpp
- ext_vector_ulp.cpp
- CMakeLists.txt
- gtc_bitfield.cpp
- gtc_color_space.cpp
- gtc_constants.cpp
- gtc_epsilon.cpp
- gtc_integer.cpp
- gtc_matrix_access.cpp
- gtc_matrix_integer.cpp
- gtc_matrix_inverse.cpp
- gtc_matrix_transform.cpp
- gtc_noise.cpp
- gtc_packing.cpp
- gtc_quaternion.cpp
- gtc_random.cpp
- gtc_reciprocal.cpp
- gtc_round.cpp
- gtc_type_aligned.cpp
- gtc_type_precision.cpp
- gtc_type_ptr.cpp
- gtc_ulp.cpp
- gtc_user_defined_types.cpp
- gtc_vec1.cpp
- CMakeLists.txt
- gtx.cpp
- gtx_associated_min_max.cpp
- gtx_closest_point.cpp
- gtx_color_encoding.cpp
- gtx_color_space.cpp
- gtx_color_space_YCoCg.cpp
- gtx_common.cpp
- gtx_compatibility.cpp
- gtx_component_wise.cpp
- gtx_dual_quaternion.cpp
- gtx_easing.cpp
- gtx_euler_angle.cpp
- gtx_extend.cpp
- gtx_extended_min_max.cpp
- gtx_extented_min_max.cpp
- gtx_exterior_product.cpp
- gtx_fast_exponential.cpp
- gtx_fast_square_root.cpp
- gtx_fast_trigonometry.cpp
- gtx_functions.cpp
- gtx_gradient_paint.cpp
- gtx_handed_coordinate_space.cpp
- gtx_hash.cpp
- gtx_int_10_10_10_2.cpp
- gtx_integer.cpp
- gtx_intersect.cpp
- gtx_io.cpp
- gtx_load.cpp
- gtx_log_base.cpp
- gtx_matrix_cross_product.cpp
- gtx_matrix_decompose.cpp
- gtx_matrix_factorisation.cpp
- gtx_matrix_interpolation.cpp
- gtx_matrix_major_storage.cpp
- gtx_matrix_operation.cpp
- gtx_matrix_query.cpp
- gtx_matrix_transform_2d.cpp
- gtx_mixed_product.cpp
- gtx_norm.cpp
- gtx_normal.cpp
- gtx_normalize_dot.cpp
- gtx_number_precision.cpp
- gtx_optimum_pow.cpp
- gtx_orthonormalize.cpp
- gtx_pca.cpp
- gtx_perpendicular.cpp
- gtx_polar_coordinates.cpp
- gtx_projection.cpp
- gtx_quaternion.cpp
- gtx_random.cpp
- gtx_range.cpp
- gtx_rotate_normalized_axis.cpp
- gtx_rotate_vector.cpp
- gtx_scalar_multiplication.cpp
- gtx_scalar_relational.cpp
- gtx_simd_mat4.cpp
- gtx_simd_vec4.cpp
- gtx_spline.cpp
- gtx_string_cast.cpp
- gtx_texture.cpp
- gtx_type_aligned.cpp
- gtx_type_trait.cpp
- gtx_vec_swizzle.cpp
- gtx_vector_angle.cpp
- gtx_vector_query.cpp
- gtx_wrap.cpp
- CMakeLists.txt
- perf_matrix_div.cpp
- perf_matrix_inverse.cpp
- perf_matrix_mul.cpp
- perf_matrix_mul_vector.cpp
- perf_matrix_transpose.cpp
- perf_vector_mul_matrix.cpp
- CMakeLists.txt
- glm.cppcheck
- autoexp.txt
- autoexp.vc2010.dat
- glm.natvis
- usertype.dat
- .appveyor.yml
- .travis.yml
- CMakeLists.txt
- copying.txt
- manual.md
- readme.md
- stbi_image_write.h
- CMakeLists.txt
- ext.cpp
- LICENSE.md
- rasterize_points.cu
- rasterize_points.h
- README.md
- setup.py
- .gitignore
- LICENSE
- README.md
- requirements.txt
# 설치 가이드
1. 코드 내려받기
git clone https://github.com/InternRobotics/RoboSplat
깃허브에서 프로젝트 코드 전체를 내 컴퓨터로 내려받습니다.
cd RoboSplat
방금 내려받은 프로젝트 폴더 안으로 이동합니다.
2. 공식 설치 스크립트
쉬움 추천사전 준비물
- Python 3 pip 명령어를 쓰려면 Python이 필요합니다.
pip install torch==2.4.1 torchvision==0.19.1 torchaudio==2.4.1 --index-url https://download.pytorch.org/whl/cu118
PyPI에 배포된 패키지를 바로 설치합니다. 소스 클론이 필요 없습니다.
pip install third_party/diff-gaussian-rasterization
PyPI에 배포된 패키지를 바로 설치합니다. 소스 클론이 필요 없습니다.
설치 후 새 터미널을 열고, 프로그램의 버전 확인 명령(예: --version)으로 정상 설치됐는지 확인하세요.
이 레포의 README에 적힌 실제 명령어를 그대로 가져왔습니다.
3. CMake
보통사전 준비물
⚠️ 이 프로젝트는 규모가 큰 저장소라, 이 방법이 실제 핵심 제품이 아니라 내부 하위 패키지를 가리키는 것일 수 있습니다. README 전체를 함께 확인해보세요.
cd third_party/diff-gaussian-rasterization
이 프로젝트의 관련 파일이 하위 폴더 안에 있어서, 먼저 그 폴더로 이동합니다.
mkdir build && cd build
빌드 결과물을 담을 폴더를 만들고 그 안으로 이동합니다.
cmake ..
소스코드를 분석해 빌드 설정 파일을 생성합니다 (build 폴더 안에서 실행해야 함).
make
생성된 빌드 설정을 바탕으로 실제 컴파일을 진행해 실행 파일을 만듭니다.
build 폴더 안에 실행 파일이 생성됐는지 확인하고, 직접 실행해보세요 (예: ./build/앱이름).
4. Python
쉬움사전 준비물
pip install torch==2.4.1 torchvision==0.19.1 torchaudio==2.4.1 --index-url https://download.pytorch.org/whl/cu118
PyPI에 배포된 패키지를 바로 설치합니다. 소스 클론이 필요 없습니다.
pip install -r requirements.txt
requirements.txt 등에 명시된 파이썬 라이브러리를 설치합니다.
pip install third_party/diff-gaussian-rasterization
PyPI에 배포된 패키지를 바로 설치합니다. 소스 클론이 필요 없습니다.
pip install -e . # this may take a long time
requirements.txt 등에 명시된 파이썬 라이브러리를 설치합니다.
에러 메시지 없이 실행되고 터미널에 안내 문구가 출력되면 정상입니다.
이 레포의 README에 적힌 실제 명령어를 그대로 가져왔습니다.
// repository documentation
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