FOCI: Trajectory Optimization on Gaussian Splats

• Project page: https://rffr.leggedrobotics.com/works/foci/

Authors

• Mario Gomez Andreu*¹
• Maximum Wilder-Smith*¹
• Victor Klemm¹
• Vaishakh Patil¹
• Jesus Tordesillas²
• Marco Hutter¹

*Equal contribution
¹ Robotic Systems Lab, ETH Zurich
² Comillas Pontifical University

Overview

FOCI is a novel method to compute orientation aware trajectories for robots using 3D Gaussian Splats to model both the robot and the environment.

Installation

1. Obtain a licence for the MA27 solver from https://licences.stfc.ac.uk/product/coin-hsl, download the corresponding ZIP file, rename the extracted folder to coinhsl and move it to the root directory of this repository.
2. docker build -t rsl/foci . to build the provided docker container.
3. docker run -it -v .:/workspace --gpus all -p 127.0.0.1:8080:8080 rsl/foci to run and attach to the container.
4. pip install -e . to install the foci in the docker container.
5. python3 demos/stonehenge.py to run the demo script. Open 127.0.0.1:8080 in your webbrowser to a see a visualisation similar to the one in this README.md

Citing

If you find this work useful, please consider citing our paper:

@article{andreuwildersmith2025foci,
        author        = {Mario Gomez Andreu and Maximum Wilder-Smith and Victor Klemm and Vaishakh Patil and Jesus Tordesillas and Marco Hutter},
        title         = {FOCI: Trajectory Optimization on Gaussian Splats},
        year          = {2025},
        eprint        = {2505.08510},
        archivePrefix = {arXiv},
        primaryClass  = {cs.RO},
        url           = {https://arxiv.org/abs/2505.08510}
}