# Radiance Fields for Robotic Teleoperation

arXiv: https://arxiv.org/abs/2407.20194 · HTML: https://mlsanity.com/paper/2407.20194/

## Key facts

- Cited by 13 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 29 Jul 2024.

## Built on by (most cited first, 13 of 13)

- [ActiveSplat: High-Fidelity Scene Reconstruction through Active Gaussian Splatting](https://mlsanity.com/paper/2410.21955/) (2024)
- [What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Models](https://mlsanity.com/paper/2512.03422/) (2025)
- [PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map](https://mlsanity.com/paper/2502.05752/) (2025)
- [GLS: Geometry-aware 3D Language Gaussian Splatting](https://mlsanity.com/paper/2411.18066/) (2024)
- [Mode-GS: Monocular Depth Guided Anchored 3D Gaussian Splatting for Robust Ground-View Scene Rendering](https://mlsanity.com/paper/2410.04646/) (2024)
- [Gradient-Weighted Feature Back-Projection: A Fast Alternative to Feature Distillation in 3D Gaussian Splatting](https://mlsanity.com/paper/2411.15193/) (2024)
- [Prof. Robot: Differentiable Robot Rendering Without Static and Self-Collisions](https://mlsanity.com/paper/2503.11269/) (2025)
- [ViserDex: Visual Sim-to-Real for Robust Dexterous In-hand Reorientation](https://mlsanity.com/paper/2604.11138/) (2026)
- [From Fields to Splats: A Cross-Domain Survey of Real-Time Neural Scene Representations](https://mlsanity.com/paper/2509.23555/) (2025)
- [Preference-Driven Active 3D Scene Representation for Robotic Inspection in Nuclear Decommissioning](https://mlsanity.com/paper/2504.02161/) (2025)
- [AnythingReality: Robust Online Gaussian Splatting SLAM for Open-Vocabulary VR Scene Exploration](https://mlsanity.com/paper/2607.09260/) (2026)
- [M3GD: Multi-Modal Multi-View Geometric Diffusion for Camera--LiDAR Novel View Synthesis](https://mlsanity.com/paper/2609.30056/) (2026)
- [CognitiveReality: Robot-Agnostic Semantic Gaussian Mapping with an LLM Agent for Immersive Collaborative VR Teleoperation](https://mlsanity.com/paper/2609.31418/) (2026)

## Abstract (arXiv)

Radiance field methods such as Neural Radiance Fields (NeRFs) or 3D Gaussian Splatting (3DGS), have revolutionized graphics and novel view synthesis. Their ability to synthesize new viewpoints with photo-realistic quality, as well as capture complex volumetric and specular scenes, makes them an ideal visualization for robotic teleoperation setups. Direct camera teleoperation provides high-fidelity operation at the cost of maneuverability, while reconstruction-based approaches offer controllable scenes with lower fidelity. With this in mind, we propose replacing the traditional reconstruction-visualization components of the robotic teleoperation pipeline with online Radiance Fields, offering highly maneuverable scenes with photorealistic quality. As such, there are three main contributions to state of the art: (1) online training of Radiance Fields using live data from multiple cameras, (2) support for a variety of radiance methods including NeRF and 3DGS, (3) visualization suite for these methods including a virtual reality scene. To enable seamless integration with existing setups, these components were tested with multiple robots in multiple configurations and were displayed using traditional tools as well as the VR headset. The results across methods and robots were compared quantitatively to a baseline of mesh reconstruction, and a user study was conducted to compare the different visualization methods. For videos and code, check out https://rffr.leggedrobotics.com/works/teleoperation/.