3D Scene Understanding

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27 papers in the last four weeks, up 200% on the four weeks before. 0.3% of all new papers.

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Learning Representations from 3D Gaussian Splats
May 28, 2026Julia Farganus, Krzysztof Żurawicki, Arkadiusz Gaweł +23D Gaussian Splatting Geometric Representation Learning
Department of Artificial Intelligence, Wrocław University of Science and Technology, Wrocław, Poland
ESAM++: Efficient Online 3D Perception on the Edge
May 28, 2026Qin Liu, Lavisha Aggarwal, Saptarashmi Bandyopadhyay +4Edge Inference Point Cloud Learning
Stanford University · Google · UC San Diego
3DVLA: Enhancing Vision-Language-Action Models via 3D Spatial and Instance Understanding
May 28, 2026Zhongyu Xia, Yousen Tang, Bingqing Wei +13D Spatial Reasoning Robotic Manipulation
Wangxuan Institute of Computer Technology, Peking University · This work was done as an intern at PKU.
Deformable Gaussian Occupancy: Decoupling Rigid and Nonrigid Motion with Factorized Distillation
May 27, 2026Yang Gao, Wuyang Li, Po-Chien Luan +13D Gaussian Splatting Autonomous Driving Perception
´Ecole Polytechnique F´ed´erale de Lausanne (EPFL), Switzerland
Joint 2D-3D Segmentation and Association in Street-level Imaging
May 26, 2026Amir Melnikov, Masayuki Tanaka, Yusuke Monno +13D Semantic Segmentation 3D Scene Understanding
Institute of Science Tokyo, 2-12-1 Ookayama, Meguro-ku, Tokyo, Japan 152-8550
Uncertainty-Aware Gaussian Map for Vision-Language Navigation
May 26, 2026Jianzhe Gao, Rui Liu, Yuxuan Xu +6Uncertainty Estimation for VLA Models Vision-Language Navigation
The State Key Lab of Brain-Machine Intelligence, Zhejiang University · Department of Foundation model, 2012 Labs, Huawei · Noah’s Ark Lab, 2012 Labs, Huawei +1
3D Gaussian Map with Open-Set Semantic Grouping for Vision-Language Navigation
May 26, 2026Jianzhe Gao, Rui Liu, Wenguan WangVision-Language Navigation 3D Scene Representation
The State Key Lab of Brain-Machine Intelligence, Zhejiang University
Perceive-then-Plan: Layout-as-Policy for Monocular 3D Scene Layout Estimation
May 25, 2026Junwei Zhou, Yu-Wing Tai3D Spatial Reasoning 3D Scene Layout Generation
Department of Computer Science Dartmouth College
Unified 3D Scene Understanding Through Physical World Modeling
May 23, 2026Wanhee Lee, Klemen Kotar, Rahul Mysore Venkatesh +4Unified Multimodal Models Depth Estimation
Stanford University · OpenAI
GIBLy: Improving 3D Semantic Segmentation through an Architecture-Agnostic Lightweight Geometric Inductive Bias Layer
May 22, 2026Diogo Lavado, Alessandra Micheletti, Clàudia Soares3D Semantic Segmentation Geometric Representation Learning
NOVA School of Science and Technology, Portugal · Universit`a degli Studi di Milano, Italy
PhotoFlow: Agentic 3D Virtual Photography Missions
May 22, 2026Jiarui Guo, Haojia Wei, Yiming Zhang +5Tool-Using Vision-Language Agents 3D Scene Understanding
Shanghai Jiao Tong University · Northeastern University · University of California, Los Angeles +3
LangFlash: Feed-forward 3D Language Gaussian Splatting from Sparse Unposed Images
May 22, 2026Yilong Liu, Wanhua Li, Chen Zhu-Tian +13D Gaussian Splatting Language-Embedded 3DGS
Harvard University · Tsinghua University · Nanyang Technological University +1
DRIVESPATIAL: A Benchmark for Spatiotemporal Intelligence in VLMs for Autonomous Driving
May 22, 2026Hao Vo, Khoa Vo, Phu Loc Nguyen +10VLM Evaluation Autonomous Driving Datasets
University of Arkansas, USA · Google Research, Google · University of Liverpool, UK +1
EvoScene-VLA: Evolving Scene Beliefs Inside the Action Decoder for Chunked Robot Control
May 21, 2026Chushan Zhang, Ruihan Lu, Jinguang Tong +3World Models for Robotics Vision-Language-Action Models
Australian National University · The University of Queensland · Beijing Normal University
RelWitness: Open-Vocabulary 3D Scene Graph Generation with Visual-Geometric Relation Witnesses
May 20, 2026Minh Anh Nguyen, Quang Huy Tran, Bao Ngoc Le +2Scene Graph Generation 3D SGG
Phenikaa University
Mono-Hydra++: Real-Time Monocular Scene Graph Construction with Multi-Task Learning for 3D Indoor Mapping
May 17, 2026U. V. B. L. Udugama, George Vosselman, Francesco Nex3D SGG Visual-Inertial SLAM
Department of Earth Observation Science, University of Twente, Enschede, 7522 NH, The Netherlands
Coarse Semantic Injection for LLM-Conditioned Structured Indoor Prediction
May 16, 2026Shuliang Zhu, Tomiwa Adey, Jinjia ZhouPoint Cloud Learning 3D Object Detection
Unlocking Dense Metric Depth Estimation in VLMs
May 15, 2026Hanxun Yu, Xuan Qu, Yuxin Wang +2Vision-Language Models Metric Depth Estimation
Zhejiang University · Tencent Hunyuan LLM · HKUST +1
WorldAct: Activating Monolithic 3D Worlds into Interactive-Ready Object-Centric Scenes
May 15, 2026Jichen Hu, Jiawei Guo, Jiazhong Cen +33D Scene Editing Interactive World Models
1Shanghai Jiao Tong University · 2Huawei Inc.
Hierarchical and Holistic Open-Vocabulary Functional 3D Scene Graphs for Indoor Spaces
May 15, 2026Xinggang Hu, Chenyangguang Zhang, Alexandros Delitzas +43D SGG 3D Scene Understanding
Tsinghua University, China · ETH Zurich, Switzerland · MPI for Informatics, Germany +3
3D Segmentation Using Viewpoint-Dependent Spatial Relationships
May 15, 2026Ayaka Nanri, Klara Reichard, Mert Kiray +33D Spatial Reasoning 3D Scene Understanding
Institute of Science Tokyo · Technical University of Munich · BMW Group +12
Exploring Bottlenecks in VLM-LLM Navigation: How 3D Scene Understanding Capability Impacts Zero-Shot VLN
May 14, 2026Ziyi Xia, Chaoran Xiong, Litao Wei +2Vision-Language Navigation 3D Scene Understanding
Shanghai Key Laboratory of Navigation and Location Based Services, Shanghai Jiao Tong University (SJTU), Shanghai 200240, China · State Key Laboratory of Submarine Geoscience, SJTU
PanoWorld: Towards Spatial Supersensing in 360 $^\circ$ Panorama World
May 13, 2026Changpeng Wang, Xin Lin, Junhan Liu +53D Spatial Reasoning 3D Scene Understanding
1Zhejiang University · University of California, San Diego · University of California, Irvine +1
Grounding by Remembering: Cross-Scene and In-Scene Memory for 3D Functional Affordances
May 12, 2026Qirui Wang, Jingyi He, Yining Pan +2Visually Grounded Reasoning Memory-Augmented Agents
TUM · A*STAR
OpenSGA: Efficient 3D Scene Graph Alignment in the Open World
May 11, 2026Gang Chen, Sebastián Barbas Laina, Stefan Leutenegger +1Robot Localization 3D Scene Understanding
Autonomous Multi-Robots Lab, Department of Cognitive Robotics, School of Mechanical Engineering, Delft University of Technology, 2628 CD, Delft, Netherlands · Mobile Robotics Lab, School of Computation, Information and Technology, Technical University of Munich · Mobile Robotics Lab, Department of Mechanical and Process Engineering, ETH Zürich
MTA-RL: Robust Urban Driving via Multi-modal Transformer-based 3D Affordances and Reinforcement Learning
May 11, 2026Guangli Chen, Dianzhao Li, Wenjian Zhong +2Camera-LiDAR Fusion RL for Autonomous Driving
Dongguan Key Laboratory of Intelligent Equipment and Smart Industry, School of Advanced Engineering, Great Bay University, Dongguan, China · Chair of Applied Statistics, Technische Universität Dresden, Dresden, Germany · Center for Scalable Data Analytics and Artificial Intelligence (ScaDS.AI) Dresden/Leipzig, Dresden, Germany +1
Distilling 3D Spatial Reasoning into a Lightweight Vision-Language Model with CoT
May 10, 2026Alaa Asfour, Christopher Indris, Leihan Chen +2Cross-Modal Knowledge Distillation 3D Spatial Reasoning
Department of Computer Science, Toronto Metropolitan University, Toronto, ON, Canada
Flame3D: Zero-shot Compositional Reasoning of 3D Scenes with Agentic Language Models
May 9, 2026Sagar Bharadwaj, Ziyong Ma, Anurag Ghosh +2Tool Use in VLMs 3D Spatial Reasoning
Carnegie Mellon University
Curvature-Aware Captioning:Leveraging Geodesic Attention for 3D Scene Understanding
May 9, 2026Ziyao He, Yingjie Liu, ZhangYangRui +3Attention Mechanisms Hyperbolic Representation Learning
East China Normal University
Distill, Diffuse, and Semanticize (DDS): Annotation-Free 3D Scene Understanding Based on Multi-Granularity Distillation and Graph-Diffusion-Based Segmentation
May 8, 2026Yijing Wang, Ruonan Li, Qilin Wang +23D Semantic Segmentation 3D Scene Understanding
Faculty of Computing, Harbin Institute of Technology · 2Pengcheng Laboratory

May 28, 2026, cs.CVJ/K move · Enter open · S save

Learning Representations from 3D Gaussian Splats

Julia Farganus, Krzysztof Żurawicki, Arkadiusz Gaweł, Weronika Jakubowska+1

Department of Artificial Intelligence, Wrocław University of Science and Technology, Wrocław, Poland

3D Gaussian Splatting Geometric Representation Learning 3D Representation Learning 3D Scene Understanding

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3D Gaussian Splatting (3DGS) is a recent approach for scene rendering. Although primarily designed for view synthesis, its potential for scene understanding tasks remains underexplored. In this work, we conduct a comparative evaluation of various geometric deep learning architectures for the classification of 3D scenes represented using Gaussian Splatting. We benchmark point-based and graph-based models across both traditional point cloud datasets and dedicated Gaussian Splatting datasets. Scenes are embedded into latent representations, which are evaluated through end-to-end classification, linear probing, and clustering analysis. Our study provides insight into the suitability of different geometry-aware architectures and input feature configurations for learning effective 3D Gaussian Splat representations. The results highlight consistent differences between architectural families and reveal the impact of Gaussian-specific attributes on the quality of representation.

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