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cs.RO2025
VISTA: Open-Vocabulary, Task-Relevant Robot Exploration with Online Semantic Gaussian Splatting
Keiko Nagami, Timothy Chen, Javier Yu +5
We present VISTA (Viewpoint-based Image selection with Semantic Task Awareness), an active exploration method for robots to plan informative trajectories that improve 3D map qualit…
cs.RO2025★ 7 cited
HAMMER: Heterogeneous, Multi-Robot Semantic Gaussian Splatting
Javier Yu, Timothy Chen, Mac Schwager
3D Gaussian Splatting offers expressive scene reconstruction, modeling a broad range of visual, geometric, and semantic information. However, efficient real-time map reconstruction…