mlsanityData to 7 Oct 2026

VL-Fields: Towards Language-Grounded Neural Implicit Spatial Representations

arXiv 2305.12427 ↗First posted 21 May 2023cs.CVcited by 23

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Abstract (arXiv)

We present Visual-Language Fields (VL-Fields), a neural implicit spatial representation that enables open-vocabulary semantic queries. Our model encodes and fuses the geometry of a scene with vision-language trained latent features by distilling information from a language-driven segmentation model. VL-Fields is trained without requiring any prior knowledge of the scene object classes, which makes it a promising representation for the field of robotics. Our model outperformed the similar CLIP-Fields model in the task of semantic segmentation by almost 10%.

Key facts. Cited by 23 papers in the map (data through 7 Oct 2026). Builds on 34 of its 34 references that are in the map. First posted on arXiv 21 May 2023.

Builds on

34 of 34 references.

References · 34

  1. 2021Learning Transferable Visual Models From Natural Language Supervisioncited by 33,456
  2. 2019Sentence-BERT: Sentence Embeddings using Siamese BERT-Networkscited by 9,049
  3. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,698
  4. 2019DeepSDF: Learning Continuous Signed Distance Functions for Shape Representationcited by 2,682
  5. 2018Occupancy Networks: Learning 3D Reconstruction in Function Spacecited by 2,037
  6. 2018Learning Implicit Fields for Generative Shape Modelingcited by 1,060
  7. 2019The Replica Dataset: A Digital Replica of Indoor Spacescited by 885
  8. 2020Neural Scene Flow Fields for Space-Time View Synthesis of Dynamic Scenescited by 750
  9. 2022Language-driven Semantic Segmentationcited by 711
  10. 2022Detecting Twenty-thousand Classes using Image-level Supervisioncited by 613
  11. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 586
  12. 2022OpenScene: 3D Scene Understanding with Open Vocabulariescited by 556
22 more
  1. 2021Neural Fields in Visual Computing and Beyondcited by 539
  2. 2021iMAP: Implicit Mapping and Positioning in Real-Timecited by 476
  3. 2021Scaling Open-Vocabulary Image Segmentation with Image-Level Labelscited by 471
  4. 2021In-Place Scene Labelling and Understanding with Implicit Scene Representationcited by 411
  5. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 381
  6. 2022Decomposing NeRF for Editing via Feature Field Distillationcited by 370
  7. 2022Visual Language Maps for Robot Navigationcited by 362
  8. 2023ConceptFusion: Open-set Multimodal 3D Mappingcited by 302
  9. 2021Urban Radiance Fieldscited by 263
  10. 2021Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulationcited by 204
  11. 2022Neural Feature Fusion Fields: 3D Distillation of Self-Supervised 2D Image Representationscited by 195
  12. 2022NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fieldscited by 188
  13. 2022Panoptic Lifting for 3D Scene Understanding with Neural Fieldscited by 171
  14. 2022CLIP-Fields: Weakly Supervised Semantic Fields for Robotic Memorycited by 164
  15. 2021NeSF: Neural Semantic Fields for Generalizable Semantic Segmentation of 3D Scenescited by 119
  16. 2022DM-NeRF: 3D Scene Geometry Decomposition and Manipulation from 2D Imagescited by 69
  17. 2022Loc-NeRF: Monte Carlo Localization using Neural Radiance Fieldscited by 69
  18. 2022Feature-Realistic Neural Fusion for Real-Time, Open Set Scene Understandingcited by 37
  19. 2023Audio Visual Language Maps for Robot Navigationcited by 30
  20. 2021ILabel: Interactive Neural Scene Labellingcited by 28
  21. 2021Learning Continuous Environment Fields via Implicit Functionscited by 8
  22. 2022Real-time Mapping of Physical Scene Properties with an Autonomous Robot Experimentercited by 4

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 3; 2024: 12; 2025: 7; 2026: 1.

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  1. 2023Feature 3DGS: Supercharging 3D Gaussian Splatting to Enable Distilled Feature Fieldscited by 361
  2. 2023ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planningcited by 357
  3. 2023EmerNeRF: Emergent Spatial-Temporal Scene Decomposition via Self-Supervisioncited by 216
  4. 2024FMGS: Foundation Model Embedded 3D Gaussian Splatting for Holistic 3D Scene Understandingcited by 86
  5. 20243D-Mem: 3D Scene Memory for Embodied Exploration and Reasoningcited by 73
  6. 2024EgoLifter: Open-world 3D Segmentation for Egocentric Perceptioncited by 46
  7. 2024When LLMs step into the 3D World: A Survey and Meta-Analysis of 3D Tasks via Multi-modal Large Language Modelscited by 41
  8. 2024Beyond Bare Queries: Open-Vocabulary Object Grounding with 3D Scene Graphcited by 32
  9. 2024ODIN: A Single Model for 2D and 3D Segmentationcited by 25
  10. 2024AirPlanes: Accurate Plane Estimation via 3D-Consistent Embeddingscited by 13
  11. 2025Feed-Forward SceneDINO for Unsupervised Semantic Scene Completioncited by 11
  12. 2024Click to Grasp: Zero-Shot Precise Manipulation via Visual Diffusion Descriptorscited by 10
11 more
  1. 2024Semantically-aware Neural Radiance Fields for Visual Scene Understanding: A Comprehensive Reviewcited by 9
  2. 2024GOV-NeSF: Generalizable Open-Vocabulary Neural Semantic Fieldscited by 8
  3. 2025Fast Flow-based Visuomotor Policies via Conditional Optimal Transport Couplingscited by 8
  4. 2024OpenOcc: Open Vocabulary 3D Scene Reconstruction via Occupancy Representationcited by 6
  5. 2026LightSplat: Fast and Memory-Efficient Open-Vocabulary 3D Scene Understanding in Five Secondscited by 5
  6. 2024Zero-shot Object-Centric Instruction Following: Integrating Foundation Models with Traditional Navigationcited by 4
  7. 2025The Temporal Trap: Entanglement in Pre-Trained Visual Representations for Visuomotor Policy Learningcited by 3
  8. 2025Attentive Feature Aggregation or: How Policies Learn to Stop Worrying about Robustness and Attend to Task-Relevant Visual Cuescited by 2
  9. 2025OpenLex3D: A Tiered Evaluation Benchmark for Open-Vocabulary 3D Scene Representationscited by 1
  10. 2025OpenMaskDINO3D : Reasoning 3D Segmentation via Large Language Modelcited by 1
  11. 2025Next Best View Selections for Semantic and Dynamic 3D Gaussian Splattingcited by 1