# AnythingReality: Robust Online Gaussian Splatting SLAM for Open-Vocabulary VR Scene Exploration

arXiv: https://arxiv.org/abs/2607.09260 · HTML: https://mlsanity.com/paper/2607.09260/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 11 of its 15 references that are in the map.
- First posted on arXiv 10 Jul 2026.

## Builds on (most cited first, 11 of 11)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [Efficient Memory Management for Large Language Model Serving with PagedAttention](https://mlsanity.com/paper/2309.06180/) (2023)
- [Robust Speech Recognition via Large-Scale Weak Supervision](https://mlsanity.com/paper/2212.04356/) (2022)
- [ScanQA: 3D Question Answering for Spatial Scene Understanding](https://mlsanity.com/paper/2112.10482/) (2021)
- [VR-GS: A Physical Dynamics-Aware Interactive Gaussian Splatting System in Virtual Reality](https://mlsanity.com/paper/2401.16663/) (2024)
- [GPT4Scene: Understand 3D Scenes from Videos with Vision-Language Models](https://mlsanity.com/paper/2501.01428/) (2025)
- [3D Vision-Language Gaussian Splatting](https://mlsanity.com/paper/2410.07577/) (2024)
- [Radiance Fields for Robotic Teleoperation](https://mlsanity.com/paper/2407.20194/) (2024)
- [Gaussian-Plus-SDF SLAM: High-fidelity 3D Reconstruction at 150+ fps](https://mlsanity.com/paper/2509.11574/) (2025)
- [Inspection of histological 3D reconstructions in virtual reality](https://mlsanity.com/paper/2009.00887/) (2020)

## Abstract (arXiv)

We present a novel integrated architecture for robust online 3D Gaussian splatting, real-time VR exploration, and speech-driven Vision-Language-Model interaction. Unlike methods assuming clean depth or external poses, our system combines ORB-SLAM3-based pose estimation with online Gaussian reconstruction for noisy real-world data. A VR pipeline enables immersive exploration of incremental reconstructions; a semantic module transcribes voice commands, generates scene descriptions, and records points of interest. Against state-of-the-art online Gaussian splatting methods, we improve image quality on our dataset (+14.5% PSNR, +8.6% SSIM, -14.3% LPIPS) and TUM-RGBD (+11.7% PSNR, +7.8% SSIM, -21.6% LPIPS), with comparable or superior frame rates via quality-speed configurations. We achieve an 88% VLM object-recognition rate.