NEO: NeRF It Once, Edit It Many Times for Continuous Object Manipulation

Abstract:In this paper, we present NEO, a unified framework providing language-guided NeRF editing for robotic manipulation. Our paper introduces (i) a language-guided object removal that combines neural field resampling with multiview-consistent progressive inpainting, (ii) a direct NeRF weight editing method utilizing knowledge distillation, composing original and edited NeRFs via a teacher-student model, enabling coherent modeling of future scene states before a robot executes an action, and (iii) the first benchmark (NEO-Dataset) for quantitatively evaluating NeRF scene editing methods suitable for robot manipulation. We show that our approach outperforms state-of-the-art baselines in scene editing tasks, including object removal and pick-and-place robotic experiments, yielding visually coherent and geometrically consistent edits that reduce artifacts commonly introduced by prior methods.

Robotics (cs.RO)

arXiv:2607.24538 [cs.RO]

(or arXiv:2607.24538v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2607.24538 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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