By reconstructing 3D scenes and manipulated objects separately, then re-rendering demonstrations from novel robot base poses, MOMASPLAT makes visuomotor policies robust to viewpoint changes—doubling success rates on unseen positions without collecting more real-world data.
MOMASPLAT augments robot manipulation demonstrations by synthesizing them from unseen camera viewpoints using 3D reconstruction and novel-view synthesis. This solves a key problem in mobile manipulation: robots rarely execute tasks from the exact same position as during training, causing policy failures.