Zero-Splat TeleAssist: A Zero-Shot Pose Estimation Framework for Semantic Teleoperation

Srijan Dokania, Dharini Raghavan

Abstract:

We introduce Zero-Splat TeleAssist, a zero-shot
sensor-fusion pipeline that transforms commodity CCTV streams
into a shared, 6-DoF world model for multilateral teleopera-
tion. By integrating vision–language segmentation, monocular
depth, weighted-PCA pose extraction and 3-D Gaussian Splatting
(3DGS), TeleAssist provides every operator with real-time global
positions and orientations of multiple robots without fiducials or
depth sensors in an interaction-centric teleoperation.