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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  1. From Pixels to Primitives: Scene Change Detection in 3D Gaussian Splatting

    May 8, 2026Chamuditha Jayanga Galappaththige, Jason Lai, Timothy Patten +33D Gaussian Splatting3D Scene Representation

    1QUT Centre for Robotics · 2ARIAM · 3ACFR, University of Sydney +1

  2. OpenGaFF: Open-Vocabulary Gaussian Feature Field with Codebook Attention

    May 7, 2026Kunyi Li, Michael Niemeyer, Sen Wang +33D Gaussian SplattingOpen-Vocabulary 3D Segmentation

    1Technical University of Munich · 3Munich Center for Machine Learning · 2Google +1

  3. Ilov3Splat: Instance-Level Open-Vocabulary 3D Scene Understanding in Gaussian Splatting

    May 6, 2026Binh Long Nguyen, Kien Nguyen, Sridha Sridharan +23D Gaussian SplattingLanguage-Embedded 3DGS

    School of Electrical Engineering and Robotics, Queensland University of Technology (QUT), Brisbane, QLD 4000, Australia · CSIRO Robotics, CSIRO, Brisbane, QLD 4069, Australia

  4. FUS3DMaps: Scalable and Accurate Open-Vocabulary Semantic Mapping by 3D Fusion of Voxel- and Instance-Level Layers

    May 5, 2026Timon Homberger, Finn Lukas Busch, Jesús Gerardo Ortega Peimbert +2Open-Vocabulary 3D Segmentation3D Semantic Segmentation

    Division of Robotics, Perception, and Learning, KTH Royal Institute of Technology, Sweden

  5. Multi-Scale Gaussian-Language Map for Zero-shot Embodied Navigation and Reasoning

    May 3, 2026Sixian Zhang, Yiyao Wang, Xinhang Song +3Embodied Navigation3D Scene Representation

    State Key Laboratory of AI Safety, Institute of Computing Technology, Chinese Academy of Sciences, Beijing · University of Chinese Academy Sciences, Beijing · Institute of Computing Technology, Chinese Academy of Sciences, Beijing

  6. VoxAfford: Multi-Scale Voxel-Token Fusion for Open-Vocabulary 3D Affordance Detection

    May 2, 2026Haowen Sun, Shaolong Zhang, Mingyang Li +63D Point Cloud Segmentation3D Scene Understanding

    National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University, Xi’an, 710049

  7. HERMES++: Toward a Unified Driving World Model for 3D Scene Understanding and Generation

    Apr 30, 2026Xin Zhou, Dingkang Liang, Xiwu Chen +4World Model Learning3D Scene Generation

    Huazhong University of Science and Technology · Mach Drive · University of Hong Kong

  8. Featurising Pixels from Dynamic 3D Scenes with Linear In-Context Learners

    Apr 29, 2026Nikita Araslanov, Martin Sundermeyer, Hidenobu Matsuki +2Video Representation Learning3D Scene Understanding

    Google · TU Munich · Munich Center for Machine Learning

  9. Semantic Foam: Unifying Spatial and Semantic Scene Decomposition

    Apr 29, 2026Amr Sharafeldin, Shrisudhan Govindarajan, Thomas Walker +43D Semantic Segmentation3D Scene Representation

    1Simon Fraser University · University of Edinburgh · 3Wayve Technologies +2

  10. ReVSI: Rebuilding Visual Spatial Intelligence Evaluation for Accurate Assessment of VLM 3D Reasoning

    Apr 27, 2026Yiming Zhang, Jiacheng Chen, Jiaqi Tan +3VLM EvaluationSpatial Reasoning Benchmarks

    1Simon Fraser University · 2Hong Kong University of Science and Technology · University of Waterloo +1

  11. INSIGHT: Indoor Scene Intelligence from Geometric-Semantic Hierarchy Transfer for Public~Safety

    Apr 25, 2026Alexander Nikitas Dimopoulos, Joseph Grasso, John Beltz3D Semantic Segmentation3D Scene Representation

    Location Based Services · PSCR, NIST · Boulder, CO, USA +2

  12. ArchSym: Detecting 3D-Grounded Architectural Symmetries in the Wild

    Apr 24, 2026Hanyu Chen, Ruojin Cai, Steve Marschner +13D Scene Understanding

    Cornell University · Kempner Institute, Harvard University

  13. GenMatter: Perceiving Physical Objects with Generative Matter Models

    Apr 24, 2026Eric Li, Arijit Dasgupta, Yoni Friedman +5Video Object SegmentationObject-Centric Representation Learning

    1MIT CSAIL · 2MIT BCS

  14. Seeing Without Eyes: 4D Human-Scene Understanding from Wearable IMUs

    Apr 23, 2026Hao-Yu Hsu, Tianhang Cheng, Jing Wen +24D ReconstructionWearable Sensing

    University of Illinois at Urbana-Champaign

  15. Volume Transformer: Revisiting Vanilla Transformers for 3D Scene Understanding

    Apr 21, 2026Kadir Yilmaz, Adrian Kruse, Tristan Höfer +23D ViTs3D Semantic Segmentation

    RWTH Aachen University · Eindhoven University of Technology

  16. Feasibility of Indoor Frame-Wise Lidar Semantic Segmentation via Distillation from Visual Foundation Model

    Apr 20, 2026Haiyang Wu, Juan J. Gonzales Torres, George Vosselman +1Cross-Modal Knowledge DistillationVision Foundation Model Adaptation

    Department of Earth Observation Science, Faculty of Geo-Information Science and Earth Observation (ITC), University of Twente, 7522 NB Enschede, The Netherlands

  17. Geometry-Guided 3D Visual Token Pruning for Video-Language Models

    Apr 20, 2026Han Li, Zehao Huang, Jiahui Fu +2Visual Token PruningVisual Token Compression

    Beihang University · Zhongguancun Academy

  18. PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding

    Apr 17, 2026Junjie Wen, Junlin He, Fei Ma +13D Scene Representation3D Representation Learning

    Pengcheng Laboratory, Shenzhen, 518108, China · The School of Intelligent Engineering, Sun Yat-Sen University-ShenzhenCampus, Shenzhen, Guangdong, China · School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China.

  19. GTASA: Ground Truth Annotations for Spatiotemporal Analysis, Evaluation and Training of Video Models

    Apr 12, 2026Nicolae Cudlenco, Mihai Masala, Marius LeordeanuSynthetic Data GenerationVideo Representation Learning

    Institute of Mathematics of the Romanian Academy, Bucharest, Romania · National University of Science and Technology Politehnica Bucharest, Romania · Büchi Labortechnik AG, Flawil, Switzerland

  20. RGB-Pointmap Pretraining for Unified 3D Scene Understanding

    Apr 2, 2026Ye Mao, Weixun Luo, Ranran Huang +23D Foundation ModelsMulti-View Learning

    Imperial College London

  21. LESV: Language Embedded Sparse Voxel Fusion for Open-Vocabulary 3D Scene Understanding

    Apr 1, 2026Fusang Wang, Nathan Piasco, Moussab Bennehar +3Point Cloud Understanding3D Scene Understanding

    Huawei Noah’s Ark Lab · CAOR, Mines Paris-PSL, France

  22. SceneTeract: Probing and Improving Agent-Aware Activity Reasoning in 3D Indoor Scenes

    Mar 31, 2026Léopold Maillard, Francis Engelmann, Tom Durand +43D Spatial ReasoningEmbodied AI

    Ecole Polytechnique · Dassault Syst`emes · Stanford University +1

  23. Industrial3D: A Water-Treatment TLS Point Cloud Dataset and Cross-Paradigm Benchmark for MEP Scene Understanding

    Mar 30, 2026Chao Yin, Hongzhe Yue, Qing Han +83D Semantic SegmentationPoint Cloud Understanding

  24. UniFunc3D: Unified Active Spatial-Temporal Grounding for 3D Affordance Segmentation

    Mar 24, 2026Jiaying Lin, Dan Xu3D Scene Understanding3D Visual Grounding

    The Hong Kong University of Science and Technology

  25. Generation Models Know Space: Unleashing Implicit 3D Priors for Scene Understanding

    Mar 19, 2026Xianjin Wu, Dingkang Liang, Tianrui Feng +53D Spatial Reasoning3D Scene Understanding

    Huazhong University of Science and Technology, China · Baidu Inc., China

  26. O3N: Omnidirectional Open-Vocabulary Occupancy Prediction

    Mar 12, 2026Mengfei Duan, Hao Shi, Fei Teng +43D Occupancy Prediction3D Scene Understanding

    School of Artificial Intelligence and Robotics and the National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha, China · Ant Group, Hangzhou, China · State Key Laboratory of Extreme Photonics and Instrumentation, Zhejiang University, Hangzhou, China

  27. PanoAffordanceNet: Towards Holistic Affordance Grounding in 360° Indoor Environments

    Mar 10, 2026Guoliang Zhu, Wanjun Jia, Caoyang Shao +3Embodied AI3D Scene Understanding

    School of Artificial Intelligence and Robotics, Hunan University, Changsha 410012, China · National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha 410082, China

  28. X-GS: An Extensible Framework for Perceiving and Thinking with 3D Gaussian Splatting

    Mar 10, 2026Yueen Ma, Zenglin Xu, Irwin King3D Gaussian Splatting3DGS SLAM

    The Chinese University of Hong Kong · Shanghai Academy of AI for Science · Fudan University

  29. I-Perceive: A Foundation Model for Vision-Language Active Perception

    Feb 28, 2026Yongxi Huang, Zhuohang Wang, Wenjing Tang +3Active PerceptionRobot Foundation Models

    Shanghai Jiao Tong University · Shanghai Innovation Institute · Beihang University

  30. StemVLA:An Open-Source Vision-Language-Action Model with Future 3D Spatial Geometry Knowledge and 4D Historical Representation

    Feb 27, 2026Jiasong Xiao, Yutao She, Kai Li +2Long-Horizon Robotic ManipulationWorld Models for Robotics

    Image Processing Ricoh Software Research Center (Beijing) Co., Ltd. Beijing, China · Guanghua School of Management Peking University Beijing, China · Image Processing Beijing YZH Engineering Technology Co., Ltd Beijing, China +2