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arXiv · 2607.24538

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

Mikołaj Zieliński·David Hall·Dominik Belter·Peyman Moghadam
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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.

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Mikołaj Zieliński, David Hall, Dominik Belter, Peyman Moghadam. 2026-07-27. NEO: NeRF It Once, Edit It Many Times for Continuous Object Manipulation. https://arxiv.org/abs/2607.24538

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