mlsanityData to 7 Oct 2026

Botany-Bot: Digital Twin Monitoring of Occluded and Underleaf Plant Structures with Gaussian Splats

arXiv 2510.17783 ↗First posted 20 Oct 2025cs.RO cs.CVcited by 1

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Abstract (arXiv)

Commercial plant phenotyping systems using fixed cameras cannot perceive many plant details due to leaf occlusion. In this paper, we present Botany-Bot, a system for building detailed "annotated digital twins" of living plants using two stereo cameras, a digital turntable inside a lightbox, an industrial robot arm, and 3D segmentated Gaussian Splat models. We also present robot algorithms for manipulating leaves to take high-resolution indexable images of occluded details such as stem buds and the underside/topside of leaves. Results from experiments suggest that Botany-Bot can segment leaves with 90.8% accuracy, detect leaves with 86.2% accuracy, lift/push leaves with 77.9% accuracy, and take detailed overside/underside images with 77.3% accuracy. Code, videos, and datasets are available at https://berkeleyautomation.github.io/Botany-Bot/.

Key facts. Cited by 1 paper in the map (data through 7 Oct 2026). Builds on 17 of its 48 references that are in the map. First posted on arXiv 20 Oct 2025.

Builds on

17 of 48 references.

References · 17

  1. 2023Segment Anythingcited by 8,158
  2. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,141
  3. 2024SAM 2: Segment Anything in Images and Videoscited by 2,784
  4. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,490
  5. 2023Nerfstudio: A Modular Framework for Neural Radiance Field Developmentcited by 596
  6. 2023Distilled Feature Fields Enable Few-Shot Language-Guided Manipulationcited by 130
  7. 2024ALOHA Unleashed: A Simple Recipe for Robot Dexteritycited by 128
  8. 2021Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objectscited by 119
  9. 2024GARField: Group Anything with Radiance Fieldscited by 108
  10. 2023Language Embedded Radiance Fields for Zero-Shot Task-Oriented Graspingcited by 91
  11. 2024GaussianGrasper: 3D Language Gaussian Splatting for Open-vocabulary Robotic Graspingcited by 77
  12. 2022PermutoSDF: Fast Multi-View Reconstruction with Implicit Surfaces using Permutohedral Latticescited by 72
5 more
  1. 2024FruitNeRF: A Unified Neural Radiance Field based Fruit Counting Frameworkcited by 21
  2. 2023PAg-NeRF: Towards fast and efficient end-to-end panoptic 3D representations for agricultural roboticscited by 16
  3. 2023Panoptic Mapping with Fruit Completion and Pose Estimation for Horticultural Robotscited by 14
  4. 2024View-Consistent Hierarchical 3D Segmentation Using Ultrametric Feature Fieldscited by 8
  5. 2023Field Robot for High-throughput and High-resolution 3D Plant Phenotypingcited by 7

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2026: 1.

1 paper.

  1. 2026RoboVista: Evaluating Vision Language Models for Diverse Robot Applicationscited by 0