Ellina Zhang

dblp:387/1241 · DBLP profile ↗
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1ranked-venue papers
0as first author
1since 2021 · last 2025
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1 · 1 since 2021Systems, architecture and hardware · 1 · 1 since 2021

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
3D vision · 67% Robot manipulation · 33%

Topics — the 2 heaviest of 3, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Computer vision › 3D vision › neural rendering
3d gaussian splatting
0.912025
Gaussian Splatting Visual MPC for Granular Media Manipulation · ICRA 2025
Computer vision › 3D vision › 3d scene modeling
scene representation
0.912025
Gaussian Splatting Visual MPC for Granular Media Manipulation · ICRA 2025

Methods — techniques the papers use, named apart from their topics

visual dynamics model · 0.9model predictive control · 0.9gaussian splatting · 0.9
YearPublicationVenuePosition
2025 Gaussian Splatting Visual MPC for Granular Media Manipulation
abstract
Recent advancements in learned 3D representations have enabled significant progress in solving complex robotic manipulation tasks, particularly for rigid-body objects. However, manipulating granular materials such as beans, nuts, and rice remains challenging due to the intricate physics of particle interactions, high-dimensional and partially observable state, inability to visually track individual particles in a pile, and the computational demands of accurate dynamics prediction. Current deep latent dynamics models often struggle to generalize in granular material manipulation due to a lack of inductive biases. In this work, we propose a novel approach that learns a visual dynamics model over Gaussian splatting repre-sentations of scenes and leverages this model for manipulating granular media via Model-Predictive Control. Our method enables efficient optimization for complex manipulation tasks on piles of granular media. We evaluate our approach in both simulated and real-world settings, demonstrating its ability to solve unseen planning tasks and generalize to new environments in a zero-shot transfer. We also show significant prediction and manipulation performance improvements compared to existing granular media manipulation methods.
Wei-Cheng Tseng, Ellina Zhang, Krishna Murthy Jatavallabhula, Florian Shkurti
ICRA2