Datasets:
ArXiv:
License:
File size: 2,079 Bytes
b7505f4 d2f0d93 e8ef6b4 d2f0d93 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 | ---
license: mit
---
<p align="center">
<h1 align="center">EmbodiedSplat 🛋️<br>
Online Feed-Forward Semantic 3DGS <br>
for Open-Vocabulary 3D Scene Understanding</h1>
<p align="center">
<a href="https://www.linkedin.com/in/seungjun-lee-43101a261/">Seungjun Lee</a></span> ·
<a href="https://scholar.google.com/citations?user=7rf6Bw4AAAAJ&hl=en">Zihan Wang</a></span> ·
<a href="https://wangys16.github.io">Yunsong Wang</a></span> ·
<a href="https://www.comp.nus.edu.sg/~leegh/">Gim Hee Lee</a><sup></sup> <br>
National University of Singapore<br>
</p>
<h2 align="center">CVPR 2026</h2>
<h3 align="center"><a href="https://github.com/0nandon/EmbodiedSplat">Code</a> | <a href="https://arxiv.org/pdf/2603.04254">Paper</a> | <a href="https://0nandon.github.io/EmbodiedSplat/">Project Page</a> </h3>
<div align="center">
<a href="https://pytorch.org/get-started/locally/"><img alt="PyTorch" src="https://img.shields.io/badge/PyTorch-ee4c2c?logo=pytorch&logoColor=white"></a>
<a href="https://pytorchlightning.ai/"><img alt="Lightning" src="https://img.shields.io/badge/-Lightning-792ee5?logo=pytorchlightning&logoColor=white"></a>
</div>
</p>
<p align="center">
<a href="">
<img src="teaser.png" alt="Logo" width="100%">
</a>
</p>
<p align="center">
<strong>Build and understand at Once!</strong> By taking over 300 streaming images, our <strong>EmbodiedSplat</strong> reconstructs whole-scene open-vocabulary 3DGS in online manner at up to 5-6 FPS per-frame processing time. Reconstructed scene supports diverse perception tasks such as open-vocabulary 3D semantic segmentation, 2D-rendered semantic segmentation and novel-view color synthesis with depth rendering.
</p>
## Citation
If you find our code or paper useful, please cite
```bibtex
@article{lee2026embodiedsplat,
title={EmbodiedSplat: Online Feed-Forward Semantic 3DGS for Open-Vocabulary 3D Scene Understanding},
author={Lee, Seungjun and Wang, Zihan and Wang, Yunsong and Lee, Gim Hee},
journal={arXiv preprint arXiv:2603.04254},
year={2026}
}
```
|