README.md

metadata

license: mit

EmbodiedSplat 🛋️
Online Feed-Forward Semantic 3DGS
for Open-Vocabulary 3D Scene Understanding

Seungjun Lee · Zihan Wang · Yunsong Wang · Gim Hee Lee
National University of Singapore

CVPR 2026

Code | Paper | Project Page

Build and understand at Once! By taking over 300 streaming images, our EmbodiedSplat 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.

Citation

If you find our code or paper useful, please cite

@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}
}