# Bayesian Fields: Task-driven Open-Set Semantic Gaussian Splatting

arXiv: https://arxiv.org/abs/2503.05949 · HTML: https://mlsanity.com/paper/2503.05949/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 44 of its 56 references that are in the map.
- First posted on arXiv 7 Mar 2025.

## Builds on (most cited first, 30 of 44)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [Eyes Wide Shut? Exploring the Visual Shortcomings of Multimodal LLMs](https://mlsanity.com/paper/2401.06209/) (2024)
- [Language-driven Semantic Segmentation](https://mlsanity.com/paper/2201.03546/) (2022)
- [The Linear Representation Hypothesis and the Geometry of Large Language Models](https://mlsanity.com/paper/2311.03658/) (2023)
- [LERF: Language Embedded Radiance Fields](https://mlsanity.com/paper/2303.09553/) (2023)
- [Ferret: Refer and Ground Anything Anywhere at Any Granularity](https://mlsanity.com/paper/2310.07704/) (2023)
- [Gaussian Splatting SLAM](https://mlsanity.com/paper/2312.06741/) (2023)
- [LangSplat: 3D Language Gaussian Splatting](https://mlsanity.com/paper/2312.16084/) (2023)
- [Faster Segment Anything: Towards Lightweight SAM for Mobile Applications](https://mlsanity.com/paper/2306.14289/) (2023)
- [ConceptFusion: Open-set Multimodal 3D Mapping](https://mlsanity.com/paper/2302.07241/) (2023)
- [Language Embedded 3D Gaussians for Open-Vocabulary Scene Understanding](https://mlsanity.com/paper/2311.18482/) (2023)
- [Chat-Scene: Bridging 3D Scene and Large Language Models with Object Identifiers](https://mlsanity.com/paper/2312.08168/) (2023)
- [CLIP-Fields: Weakly Supervised Semantic Fields for Robotic Memory](https://mlsanity.com/paper/2210.05663/) (2022)
- [The Geometry of Categorical and Hierarchical Concepts in Large Language Models](https://mlsanity.com/paper/2406.01506/) (2024)
- [OpenGaussian: Towards Point-Level 3D Gaussian-based Open Vocabulary Understanding](https://mlsanity.com/paper/2406.02058/) (2024)
- [Chat-3D: Data-efficiently Tuning Large Language Model for Universal Dialogue of 3D Scenes](https://mlsanity.com/paper/2308.08769/) (2023)
- [SAM-CLIP: Merging Vision Foundation Models towards Semantic and Spatial Understanding](https://mlsanity.com/paper/2310.15308/) (2023)
- [Does CLIP Bind Concepts? Probing Compositionality in Large Image Models](https://mlsanity.com/paper/2212.10537/) (2022)
- [Ferret-v2: An Improved Baseline for Referring and Grounding with Large Language Models](https://mlsanity.com/paper/2404.07973/) (2024)
- [FMGS: Foundation Model Embedded 3D Gaussian Splatting for Holistic 3D Scene Understanding](https://mlsanity.com/paper/2401.01970/) (2024)
- [Semantic Gaussians: Open-Vocabulary Scene Understanding with 3D Gaussian Splatting](https://mlsanity.com/paper/2403.15624/) (2024)
- [Clio: Real-time Task-Driven Open-Set 3D Scene Graphs](https://mlsanity.com/paper/2404.13696/) (2024)
- [FastVLM: Efficient Vision Encoding for Vision Language Models](https://mlsanity.com/paper/2412.13303/) (2024)
- [SNI-SLAM: Semantic Neural Implicit SLAM](https://mlsanity.com/paper/2311.11016/) (2023)
- [Cross the Gap: Exposing the Intra-modal Misalignment in CLIP via Modality Inversion](https://mlsanity.com/paper/2502.04263/) (2025)

## Built on by (most cited first, 5 of 5)

- [Describe Anything Anywhere At Any Moment](https://mlsanity.com/paper/2512.00565/) (2025)
- [GaussLite: Online Task-Conditioned 3D Gaussian Splatting for Real-Time Robotic Mapping](https://mlsanity.com/paper/2606.30809/) (2026)
- [Just-In-Time Scene Graph Growth: Combating Perceptual Saturation in Long-Horizon Robotics](https://mlsanity.com/paper/2607.13245/) (2026)
- [Belief Consistency Between Foundation-Model Evidence and Geometric Perception in Persistent Robotic Maps](https://mlsanity.com/paper/2606.00318/) (2026)
- [PORTER: Edge-Cloud Residency for Persistent 3D Scene Graph Memory](https://mlsanity.com/paper/2609.33258/) (2026)

## Abstract (arXiv)

Open-set semantic mapping requires (i) determining the correct granularity to represent the scene (e.g., how should objects be defined), and (ii) fusing semantic knowledge across multiple 2D observations into an overall 3D reconstruction -ideally with a high-fidelity yet low-memory footprint. While most related works bypass the first issue by grouping together primitives with similar semantics (according to some manually tuned threshold), we recognize that the object granularity is task-dependent, and develop a task-driven semantic mapping approach. To address the second issue, current practice is to average visual embedding vectors over multiple views. Instead, we show the benefits of using a probabilistic approach based on the properties of the underlying visual-language foundation model, and leveraging Bayesian updating to aggregate multiple observations of the scene. The result is Bayesian Fields, a task-driven and probabilistic approach for open-set semantic mapping. To enable high-fidelity objects and a dense scene representation, Bayesian Fields uses 3D Gaussians which we cluster into task-relevant objects, allowing for both easy 3D object extraction and reduced memory usage. We release Bayesian Fields open-source at https: //github.com/MIT-SPARK/Bayesian-Fields.