mlsanityData to 19 Oct 2026

Semantic 3D scene understanding and robotics

527 papers0 this weekLow confidence in this grouping: the papers may belong to more than one topic, or the group may changeLow confidence in this grouping: the papers may belong to more than one topic, or the group may change · About

Keywords: semantic, gaussian, scene, segmentation, splatting

Key facts. Semantic 3D scene understanding and robotics: 527 papers on arXiv since 2021 (data through 19 Oct 2026). 161 of its 527 mapped papers (31%) cite “LangSplat: 3D Language Gaussian Splatting” (2023, arXiv 2312.16084). 9 new papers 1 Oct–19 Oct.

What’s new

1 Oct – 19 Oct 2026

9 new papers, 1 Oct – 19 Oct; 0 this week.

  1. Earlier · 9
  2. YUBI-Real2Sim: 3DGS Scene Verification for Reliable Policy Evaluation also fits: SLAM and driving scene reconstruction
  3. G2WAM: World Action Models for Efficient and Geometry Grounded Image-Goal Navigation also fits: SLAM and driving scene reconstruction
  4. DIGS: Distribution-Informed Gaussian Splatting for Training-Free Open-Vocabulary 3D Segmentation
  5. FlowVLA: Enabling World Dynamics Understanding through Pluggable 3D Flow Learning
  6. NovaSplat: Model-Free 6D Object Pose Estimation via 3D Gaussian Splatting Onboarding and Refinement also fits: SLAM and driving scene reconstruction
  7. Post-Training Semantic Lifting for 3D Gaussian Splatting: Separating Detector, Lifting and Representation Error also fits: 3D Gaussian splatting methods
  8. LoCoSplat: Real-Time Feed-Forward 3D Gaussian Splatting with Minimal 3D Reasoning also fits: 3D Gaussian splatting methods
  9. 3DROID: A Renderable 3D Gaussian Dataset with Measured Per-Scene Reliability
  10. RelationVGGT: Visual Geometry Transformers for 3D Spatial Relation Segmentation also fits: Sparse-input reconstruction

Foundations

Most cited by papers here

  1. LangSplat: 3D Language Gaussian Splatting2023cited by 161 here
  2. Gaussian Grouping: Segment and Edit Anything in 3D Scenes2023cited by 140 here
  3. OpenGaussian: Towards Point-Level 3D Gaussian-based Open Vocabulary Understanding2024cited by 74 here
  4. Weakly Supervised 3D Open-vocabulary Segmentation2023cited by 68 here
  5. GaussianEditor: Swift and Controllable 3D Editing with Gaussian Splatting2023cited by 66 here

Lineage

The papers this direction builds on, oldest first.

Each paper on the line cites the one before.

  1. 2021Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fieldscited by 52 here
  2. 2021Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fieldscited by 92 here
  3. 2022DreamFusion: Text-to-3D using 2D Diffusioncited by 55 here
  4. 2023Nerfstudio: A Modular Framework for Neural Radiance Field Developmentcited by 48 here
  5. 2023LERF: Language Embedded Radiance Fieldscited by 151 here
  6. 2023Weakly Supervised 3D Open-vocabulary Segmentationcited by 68 here
  7. 2023LangSplat: 3D Language Gaussian Splattingcited by 161 here
  8. 2024OpenGaussian: Towards Point-Level 3D Gaussian-based Open Vocabulary Understandingcited by 74 here
16 more it builds on, not in this chain
  1. 2021In-Place Scene Labelling and Understanding with Implicit Scene Representationcited by 64 here
  2. 2022Decomposing NeRF for Editing via Feature Field Distillationcited by 78 here
  3. 2022Neural Feature Fusion Fields: 3D Distillation of Self-Supervised 2D Image Representationscited by 46 here
  4. 2022SPIn-NeRF: Multiview Segmentation and Perceptual Inpainting with Neural Radiance Fieldscited by 49 here
  5. 2023Instruct-NeRF2NeRF: Editing 3D Scenes with Instructionscited by 61 here
  6. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 422 here
  7. 2023ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenescited by 44 here
  8. 20234D Gaussian Splatting for Real-Time Dynamic Scene Renderingcited by 65 here
  9. 2023GaussianEditor: Swift and Controllable 3D Editing with Gaussian Splattingcited by 66 here
  10. 2023Scaffold-GS: Structured 3D Gaussians for View-Adaptive Renderingcited by 44 here
  11. 2023Gaussian Grouping: Segment and Edit Anything in 3D Scenescited by 140 here
  12. 2023Segment Any 3D Gaussianscited by 57 here
  13. 2023Feature 3DGS: Supercharging 3D Gaussian Splatting to Enable Distilled Feature Fieldscited by 136 here
  14. 2023pixelSplat: 3D Gaussian Splats from Image Pairs for Scalable Generalizable 3D Reconstructioncited by 44 here
  15. 2023DUSt3R: Geometric 3D Vision Made Easycited by 54 here
  16. 20242D Gaussian Splatting for Geometrically Accurate Radiance Fieldscited by 59 here

The 24 most cited of 1,388.

Browse

30 of 527, ranked 6–35

  1. 6Segment Any 3D Gaussians202357
  2. 7FMGS: Foundation Model Embedded 3D Gaussian Splatting for Holistic 3D Scene Understanding202444
  3. 8GOI: Find 3D Gaussians of Interest with an Optimizable Open-vocabulary Semantic-space Hyperplane202433
  4. 9Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps202432
  5. 10GaussianGrasper: 3D Language Gaussian Splatting for Open-vocabulary Robotic Grasping202431
  6. 11ManiGaussian: Dynamic Gaussian Splatting for Multi-task Robotic Manipulation202430
  7. 12Semantic Gaussians: Open-Vocabulary Scene Understanding with 3D Gaussian Splatting202430
  8. 13Click-Gaussian: Interactive Segmentation to Any 3D Gaussians202428
  9. 14Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting202427
  10. 15GaussCtrl: Multi-View Consistent Text-Driven 3D Gaussian Splatting Editing202426
All 30
  1. 16InstanceGaussian: Appearance-Semantic Joint Gaussian Representation for 3D Instance-Level Perception202426
  2. 17FastLGS: Speeding up Language Embedded Gaussians with Feature Grid Mapping202425
  3. 18SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting202424
  4. 19RoboGSim: A Real2Sim2Real Robotic Gaussian Splatting Simulator202424
  5. 20Dr. Splat: Directly Referring 3D Gaussian Splatting via Direct Language Embedding Registration202523
  6. 21OpenNeRF: Open Set 3D Neural Scene Segmentation with Pixel-Wise Features and Rendered Novel Views202423
  7. 22LUDVIG: Learning-Free Uplifting of 2D Visual Features to Gaussian Splatting Scenes202422
  8. 23DGE: Direct Gaussian 3D Editing by Consistent Multi-view Editing202420
  9. 24SuperGSeg: Open-Vocabulary 3D Segmentation with Structured Super-Gaussians202420
  10. 25LangSplatV2: High-dimensional 3D Language Gaussian Splatting with 450+ FPS202519
  11. 26InFusion: Inpainting 3D Gaussians via Learning Depth Completion from Diffusion Prior202419
  12. 27Panoptic NeRF: 3D-to-2D Label Transfer for Panoptic Urban Scene Segmentation202219
  13. 28Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects202118
  14. 29ArtGS: Building Interactable Replicas of Complex Articulated Objects via Gaussian Splatting202517
  15. 30GaussNav: Gaussian Splatting for Visual Navigation202417
  16. 31GraspSplats: Efficient Manipulation with 3D Feature Splatting202417
  17. 323D Vision-Language Gaussian Splatting202413
  18. 33GAGS: Granularity-Aware Feature Distillation for Language Gaussian Splatting202413
  19. 34GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF202213
  20. 35Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation202512