Abstract: For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and planning.

3D Visual Grounding (3DVG) aims to locate objects in 3D scenes based on textual descriptions, which is essential for applications like augmented reality and robotics. Traditional 3DVG approaches rely ...

The pipeline of our proposed method. (a) is our proposed pipeline where we scan multi-view RGBD images for initialization and reconstruct 3D Gaussian field via feature distillation and geometry ...