CoRef-GS: Cooperative Referring Gaussian Splatting for Multi-Agent Scene Understanding
Referring scene understanding for embodied robots requires grounding object- and relation-centric language queries from a designated viewpoint. While a local semantic Gaussian map can support such grounding within one agent's observations, cooperative settings require this ability to remain effective after independently reconstructed maps are aligned and fused. In this setting, the referred target or its contextual landmark may come from another agent's observations, while spatial relations must still be interpreted from the querying robot's viewpoint. We formulate this problem as cooperative referring Gaussian grounding over fused maps, which requires geometric alignability, instance-lev...
| Authors | Zhikun Zhou, Kunyu Peng, Runyi Yang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 17 September 2026 |
| Last updated at source | 17 September 2026 |
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