Cover Image

VISTA: Open-Vocabulary, Task-Relevant Robot Exploration with Online Semantic Gaussian Splatting

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Nagami, Keiko, Chen, Timothy, Yu, Javier, Shorinwa, Ola, Adang, Maximilian, Dougherty, Carlyn, Cristofalo, Eric, Schwager, Mac
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

SOUS VIDE: Cooking Visual Drone Navigation Policies in a Gaussian Splatting Vacuum
by: Low, JunEn, et al.
Published: (2024)

Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps
by: Chen, Timothy, et al.
Published: (2024)

FAST-Splat: Fast, Ambiguity-Free Semantics Transfer in Gaussian Splatting
by: Shorinwa, Ola, et al.
Published: (2024)

SIREN: Semantic, Initialization-Free Registration of Multi-Robot Gaussian Splatting Maps
by: Shorinwa, Ola, et al.
Published: (2025)

Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting
by: Shorinwa, Ola, et al.
Published: (2024)

SINGER: An Onboard Generalist Vision-Language Navigation Policy for Drones
by: Adang, Maximilian, et al.
Published: (2025)

SAFER-Splat: A Control Barrier Function for Safe Navigation with Online Gaussian Splatting Maps
by: Chen, Timothy, et al.
Published: (2024)

Distributed Conjugate Gradient Method via Conjugate Direction Tracking
by: Shorinwa, Ola, et al.
Published: (2023)

Distributed Quasi-Newton Method for Multi-Agent Optimization
by: Shorinwa, Ola, et al.
Published: (2024)

HAMMER: Heterogeneous, Multi-Robot Semantic Gaussian Splatting
by: Yu, Javier, et al.
Published: (2025)

Distributed Optimization Methods for Multi-Robot Systems: Part I -- A Tutorial
by: Shorinwa, Ola, et al.
Published: (2023)

Distributed Optimization Methods for Multi-Robot Systems: Part II -- A Survey
by: Shorinwa, Ola, et al.
Published: (2023)

Safe, Out-of-Distribution-Adaptive MPC with Conformalized Neural Network Ensembles
by: Contreras, Jose Leopoldo, et al.
Published: (2024)

DisCo: Distributed Contact-Rich Trajectory Optimization for Forceful Multi-Robot Collaboration
by: Shorinwa, Ola, et al.
Published: (2024)

Clio: Real-time Task-Driven Open-Set 3D Scene Graphs
by: Maggio, Dominic, et al.
Published: (2024)

Coverage Optimization for Camera View Selection
by: Chen, Timothy, et al.
Published: (2026)

Phys2Real: Fusing VLM Priors with Interactive Online Adaptation for Uncertainty-Aware Sim-to-Real Manipulation
by: Wang, Maggie, et al.
Published: (2025)

Learning Robot Safety from Sparse Human Feedback using Conformal Prediction
by: Feldman, Aaron O., et al.
Published: (2025)

Geometry Meets Vision: Revisiting Pretrained Semantics in Distilled Fields
by: Mei, Zhiting, et al.
Published: (2025)

Semantic Gaussians: Open-Vocabulary Scene Understanding with 3D Gaussian Splatting
by: Guo, Jun, et al.
Published: (2024)

OnlinePG: Online Open-Vocabulary Panoptic Mapping with 3D Gaussian Splatting
by: Zhai, Hongjia, et al.
Published: (2026)

ExtrinSplat: Decoupling Geometry and Semantics for Open-Vocabulary Understanding in 3D Gaussian Splatting
by: Ding, Jiayu, et al.
Published: (2025)

Open-Vocabulary Online Semantic Mapping for SLAM
by: Martins, Tomas Berriel, et al.
Published: (2024)

WoMAP: World Models For Embodied Open-Vocabulary Object Localization
by: Yin, Tenny, et al.
Published: (2025)

Semantic-Metric Bayesian Risk Fields: Learning Robot Safety from Human Videos with a VLM Prior
by: Chen, Timothy, et al.
Published: (2025)

Bayesian Fields: Task-driven Open-Set Semantic Gaussian Splatting
by: Maggio, Dominic, et al.
Published: (2025)

How Confident are Video Models? Empowering Video Models to Express their Uncertainty
by: Mei, Zhiting, et al.
Published: (2025)

LEGS: Fine-Tuning Teleop-Free VLAs for Humanoid Loco-manipulation in an Embodied Gaussian Splatting World
by: Kim, Hojune, et al.
Published: (2026)

OpenSplat3D: Open-Vocabulary 3D Instance Segmentation using Gaussian Splatting
by: Piekenbrinck, Jens, et al.
Published: (2025)

Segment then Splat: Unified 3D Open-Vocabulary Segmentation via Gaussian Splatting
by: Lu, Yiren, et al.
Published: (2025)

GALA: Guided Attention with Language Alignment for Open Vocabulary Gaussian Splatting
by: Alegret, Elena, et al.
Published: (2025)

EmbodiedSplat: Online Feed-Forward Semantic 3DGS for Open-Vocabulary 3D Scene Understanding
by: Lee, Seungjun, et al.
Published: (2026)

Touch-GS: Visual-Tactile Supervised 3D Gaussian Splatting
by: Swann, Aiden, et al.
Published: (2024)

A Survey on Uncertainty Quantification of Large Language Models: Taxonomy, Open Research Challenges, and Future Directions
by: Shorinwa, Ola, et al.
Published: (2024)

CATNIPS: Collision Avoidance Through Neural Implicit Probabilistic Scenes
by: Chen, Timothy, et al.
Published: (2023)

Ilov3Splat: Instance-Level Open-Vocabulary 3D Scene Understanding in Gaussian Splatting
by: Nguyen, Binh Long, et al.
Published: (2026)

EgoSplat: Open-Vocabulary Egocentric Scene Understanding with Language Embedded 3D Gaussian Splatting
by: Li, Di, et al.
Published: (2025)

Visibility-Aware Language Aggregation for Open-Vocabulary Segmentation in 3D Gaussian Splatting
by: Wang, Sen, et al.
Published: (2025)

CAGS: Open-Vocabulary 3D Scene Understanding with Context-Aware Gaussian Splatting
by: Sun, Wei, et al.
Published: (2025)

SegSplat: Feed-forward Gaussian Splatting and Open-Set Semantic Segmentation
by: Siegel, Peter, et al.
Published: (2025)