ActiveLang: Active Open-Vocabulary 3D Mapping with Semantic-Uncertainty-Guided Exploration

Key points

• As robots increasingly assist humans with diverse tasks, they need both geometric and semantic understanding of their surroundings.1
• This motivates language-annotated 3D maps that support open-vocabulary scene understanding and human-robot interaction.1
• ActiveLang performs online language-feature adaptation on a compact dual-Gaussian representation to jointly reconstruct scene geometry, appearance, and open-vocabulary semantics with modest memory overhead.1
• Experiments on Replica and ScanNet++ demonstrate substantial improvements in 2D and 3D open-vocabulary segmentation over both online and offline baselines, highlighting that actively exploring scenes builds language-annotated 3D maps more efficiently.1

Sources (1)

• [1]ActiveLang: Active Open-Vocabulary 3D Mapping with Semantic-Uncertainty-Guided Exploration
  arXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 7, 06:15 AM

  We introduce ActiveLang, an autonomous system for active open-vocabulary 3D mapping with semantic-uncertainty-guided exploration.

  As robots increasingly assist humans with diverse tasks, they need both geometric and semantic understanding of their surroundings.

Extractive summary: sentences quoted from the sources.