{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,11]],"date-time":"2026-07-11T16:27:56Z","timestamp":1783787276197,"version":"3.55.0"},"reference-count":52,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T00:00:00Z","timestamp":1760832000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T00:00:00Z","timestamp":1760832000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,10,19]]},"DOI":"10.1109\/iros60139.2025.11246564","type":"proceedings-article","created":{"date-parts":[[2025,11,27]],"date-time":"2025-11-27T18:54:45Z","timestamp":1764269685000},"page":"12232-12239","source":"Crossref","is-referenced-by-count":4,"title":["ManiGaussian++: General Robotic Bimanual Manipulation with Hierarchical Gaussian World Model"],"prefix":"10.1109","author":[{"given":"Tengbo","family":"Yu","sequence":"first","affiliation":[{"name":"Tsinghua University,Tsinghua Shenzhen International Graduate School"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guanxing","family":"Lu","sequence":"additional","affiliation":[{"name":"Tsinghua University,Tsinghua Shenzhen International Graduate School"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zaijia","family":"Yang","sequence":"additional","affiliation":[{"name":"Nanyang Technological University,School of Electrical and Electronic Engineering"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haoyuan","family":"Deng","sequence":"additional","affiliation":[{"name":"Nanyang Technological University,School of Electrical and Electronic Engineering"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Season Si","family":"Chen","sequence":"additional","affiliation":[{"name":"Tsinghua University,Tsinghua Shenzhen International Graduate School"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiwen","family":"Lu","sequence":"additional","affiliation":[{"name":"Tsinghua University,Department of Automation"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wenbo","family":"Ding","sequence":"additional","affiliation":[{"name":"Tsinghua University,Tsinghua Shenzhen International Graduate School"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guoqiang","family":"Hu","sequence":"additional","affiliation":[{"name":"Nanyang Technological University,School of Electrical and Electronic Engineering"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yansong","family":"Tang","sequence":"additional","affiliation":[{"name":"Tsinghua University,Tsinghua Shenzhen International Graduate School"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ziwei","family":"Wang","sequence":"additional","affiliation":[{"name":"Nanyang Technological University,School of Electrical and Electronic Engineering"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","article-title":"Physically embodied gaussian splatting: Embedding physical priors into a visual 3d world model for robotics","author":"Abou-Chakra","year":"2023","journal-title":"CoRL"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.promfg.2020.01.043"},{"key":"ref3","article-title":"Polarnet: 3d point clouds for language-guided robotic manipulation","author":"Chen","year":"2023"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/icra55743.2025.11128253"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/iros60139.2025.11247017"},{"key":"ref6","article-title":"Reinforcement learning with neural radiance fields","author":"Driess","year":"2022","journal-title":"NeurIPS"},{"key":"ref7","article-title":"Learning universal policies via text-guided video generation","volume":"36","author":"Du","year":"2024","journal-title":"NeurIPS"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610763"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/tits.2024.3400227"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/SMC54092.2024.10831380"},{"key":"ref11","first-page":"3949","article-title":"Act3d: 3d feature field transformers for multi-task robotic manipulation","author":"Gervet","year":"2023","journal-title":"CoRL"},{"key":"ref12","doi-asserted-by":"crossref","DOI":"10.15607\/RSS.2024.XX.055","article-title":"Rvt2: Learning precise manipulation from few demonstrations","author":"Goyal","year":"2024","journal-title":"RSS"},{"key":"ref13","article-title":"Rvt: Robotic view transformer for 3d object manipulation","author":"Goyal","year":"2023"},{"key":"ref14","first-page":"563","article-title":"Stabilize to act: Learning to coordinate for bimanual manipulation","volume-title":"CoRL","author":"Grannen","year":"2023"},{"key":"ref15","article-title":"Peract2: Benchmarking and learning for robotic bimanual manipulation tasks","author":"Grotz","year":"2024"},{"key":"ref16","article-title":"Recurrent world models facilitate policy evolution","volume":"31","author":"Ha","year":"2018","journal-title":"NeurIPS"},{"key":"ref17","first-page":"26 091","article-title":"Deep hierarchical planning from pixels","volume":"35","author":"Hafner","year":"2022","journal-title":"NeurIPS"},{"key":"ref18","article-title":"Dream to control: Learning behaviors by latent imagination","author":"Hafner","year":"2019"},{"key":"ref19","article-title":"Mastering atari with discrete world models","author":"Hafner","year":"2020"},{"key":"ref20","article-title":"Mastering diverse domains through world models","author":"Hafner","year":"2023"},{"key":"ref21","article-title":"Td-mpc2: Scalable, robust world models for continuous control","author":"Hansen","year":"2023"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561103"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3285478"},{"key":"ref24","article-title":"Perceiver: General perception with iterative attention","author":"Jaegle","year":"2021","journal-title":"ICML"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2974707"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1145\/3592433"},{"key":"ref27","article-title":"Surgical robot transformer (srt): Imitation learning for surgical tasks","author":"Kim","year":"2024"},{"key":"ref28","article-title":"Voxact-b: Voxel-based acting and stabilizing policy for bimanual manipulation","author":"Liu","year":"2024"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/icra55743.2025.11128786"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-72761-0_20"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2023.XIX.012"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1145\/3503250"},{"key":"ref33","article-title":"R3m: A universal visual representation for robot manipulation","author":"Nair","year":"2022"},{"key":"ref34","article-title":"The unsurprising effectiveness of pre-trained vision models for control","author":"Parisi","year":"2022","journal-title":"ICML"},{"key":"ref35","article-title":"Gaussian splatting to real world flight navigation transfer with liquid networks","author":"Quach","year":"2024"},{"key":"ref36","article-title":"Real-world robot learning with masked visual pre-training","author":"Radosavovic","year":"2023","journal-title":"CoRL"},{"key":"ref37","article-title":"Grounded sam: Assembling open-world models for diverse visual tasks","author":"Ren","year":"2024"},{"key":"ref38","first-page":"1332","article-title":"Masked world models for visual control","author":"Seo","year":"2023","journal-title":"CoRL"},{"key":"ref39","first-page":"19 561","article-title":"Reinforcement learning with action-free pre-training from videos","author":"Seo","year":"2022","journal-title":"ICML"},{"key":"ref40","article-title":"Snerl: Semantic-aware neural radiance fields for reinforcement learning","author":"Shim","year":"2023","journal-title":"ICML"},{"key":"ref41","article-title":"Splat-mover: multi-stage, open-vocabulary robotic manipulation via editable gaussian splatting","author":"Shorinwa","year":"2024","journal-title":"CoRL"},{"key":"ref42","article-title":"Perceiver-actor: A multi-task transformer for robotic manipulation","author":"Shridhar","year":"2023","journal-title":"CoRL"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-73195-2_4"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1176\/appi.books.9781585622665.33114"},{"key":"ref45","article-title":"Ace: A cross-platform visual-exoskeletons system for low-cost dexterous teleoperation","author":"Yang","year":"2024"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3259681"},{"key":"ref47","first-page":"284","article-title":"Gnfactor: Multi-task real robot learning with generalizable neural feature fields","volume-title":"CoRL","author":"Ze","year":"2023"},{"key":"ref48","article-title":"Dynamic 3d gaussian tracking for graph-based neural dynamics modeling","author":"Zhang","year":"2024","journal-title":"CoRL"},{"key":"ref49","article-title":"Empowering embodied manipulation: A bimanual-mobile robot manipulation dataset for household tasks","author":"Zhang","year":"2024"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2023.XIX.016"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-72624-8_4"},{"key":"ref52","article-title":"Spa: 3d spatial-awareness enables effective embodied representation","author":"Zhu","year":"2024"}],"event":{"name":"2025 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Hangzhou, China","start":{"date-parts":[[2025,10,19]]},"end":{"date-parts":[[2025,10,25]]}},"container-title":["2025 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11245651\/11245652\/11246564.pdf?arnumber=11246564","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T12:36:39Z","timestamp":1766061399000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11246564\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,10,19]]},"references-count":52,"URL":"https:\/\/doi.org\/10.1109\/iros60139.2025.11246564","relation":{},"subject":[],"published":{"date-parts":[[2025,10,19]]}}}