3D Gaussian Map with Open-Set Semantic Grouping for Vision-Language Navigation
Vision-language navigation (VLN) requires an agent to traverse complex 3D environments based on natural language instructions, necessitating a thorough scene understanding. While existing works equip agents with various scene representations to enhance spatial awareness, they often neglect the complex 3D geometry and rich semantics in VLN scenarios, limiting the ability to generalize across diverse and unseen environments. To address these challenges, this work proposes a 3D Gaussian Map that represents the environment as a set of differentiable 3D Gaussians and accordingly develops a navigation strategy for VLN. Specifically, Egocentric Scene Map is constructed online by initializing 3D ...
| Authors | Jianzhe Gao, Rui Liu, Wenguan Wang |
|---|---|
| Primary category | cs.CV |
| Published | 26 May 2026 |
| Last updated at source | 26 May 2026 |
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