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<html>
<head>
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<script async src="https://www.googletagmanager.com/gtag/js?id=G-FYQNRK8LHK"></script>
<script>
window.dataLayer = window.dataLayer || [];
function gtag() { dataLayer.push(arguments); }
gtag('js', new Date());
gtag('config', 'G-FYQNRK8LHK');
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<meta charset="utf-8" />
<title>POGS: Persistent Object Gaussian Splat for Tracking Human and Robot Manipulation of Irregularly Shaped Objects</title>
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</head>
<body>
<div class="section">
<div class="container">
<div class="title-row">
<h1 class="title">POGS</h1>
<h1 class="subheader"> Persistent Object Gaussian Splat for Tracking Human and Robot Manipulation of Irregularly Shaped Objects </h1>
</div>
<div class="base-row author-row">
<div class="base-col author-col">
<a href="" target="_blank" class="author-text">
Justin Yu
<span class="text-star">* 1</span>
<!-- <span class="text-star">*</span> -->
</a>
</div>
<div class="base-col author-col">
<a href="https://uynitsuj.github.io/" target="_blank" class="author-text">
Kush Hari
<span class="text-star">* 1</span>
<!-- <span class="text-star">*</span> -->
</a>
</div>
<div class="base-col author-col">
<a href="https://el-refai.github.io" target="_blank" class="author-text">
Karim El-Refai
<span class="text-star">* 1</span>
</a>
</div>
<div class="base-col author-col">
<a href="" target="_blank" class="author-text">
Arnav Dalil
<span class="text-star">1</span>
</a>
</div>
</div>
<div class="base-row author-row">
<div class="base-col author-col">
<a href="" target="_blank" class="author-text">
Justin Kerr
<span class="text-star">1</span>
</a>
</div>
<div class="base-col author-col">
<a href="" target="_blank" class="author-text">
Chung-Min Kim
<span class="text-star">1</span>
</a>
</div>
<div class="base-col author-col">
<a href="" target="_blank" class="author-text">
Richard Cheng
<span class="text-star">2</span>
</a>
</div>
<div class="base-col author-col">
<a href="" target="_blank" class="author-text">
Muhammad Zubair Irshad
<span class="text-star">2</span>
</a>
</div>
<div class="base-col author-col">
<a href="https://goldberg.berkeley.edu/" target="_blank" class="author-text">
Ken Goldberg
<span class="text-star">1</span>
</a>
</div>
</div>
<div>
<!-- <h1 id="uc-berkeley">UC Berkeley</h1> -->
<h1 id="uc-berkeley"><span class="text-star">1</span> The AUTOLab at UC Berkeley</h1>
<h1 id="uc-berkeley"><span class="text-star">2</span> The Toyota Research Institute</h1>
<!-- <br /> -->
<div id="equal_contrib" style="margin-top: 7px;">
<span class="text-star">*</span>Denotes Equal Contribution
</div>
</div>
<div class="title-row">
<h2 class="subheader">Under Review for ICRA 2025</h1>
<br>
<video controls width="800px">
<source src="media/POGS_supp_vid_updated.mp4" type="video/mp4" />
</video>
<br>