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

arXiv:2610.09518 · cs.CV, cs.RO · Submitted 2026-10-07 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-10-07

Updated: 2026-10-07

Code: https://github.com/facebookresearch/Replica-Dataset

Terminology

• Adaptation — 23× in this paper · explained in 1 episode
• Gaussian Splatting — 19× in this paper · explained in 4 episodes
• Accuracy — 17× in this paper · explained in 1 episode
• Embeddings — 16× in this paper · explained in 2 episodes
• 3D Gaussian Splatting — 7× in this paper · explained in 2 episodes
• Cosine Similarity — 6× in this paper · explained in 3 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Active Exploration — 5× in this paper · explained in 2 episodes
• Online Adaptation — 5× in this paper · explained in 3 episodes
• Alignment — 3× in this paper · explained in 1 episode
• Embodied AI — 3× in this paper · explained in 2 episodes
• Instance Segmentation — 3× in this paper · explained in 3 episodes
• Mode Collapse — 3× in this paper · explained in 2 episodes
• Reconstruction Error — 3× in this paper · explained in 2 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Adam — 2× in this paper · explained in 2 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Latent Space — 2× in this paper · explained in 7 episodes
• 3D Gaussian Splatting (3DGS) — 1× in this paper · explained in 4 episodes
• Active SLAM — 1× in this paper · explained in 1 episode
• Closed-Loop System — 1× in this paper · explained in 4 episodes
• Clustering — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Guided attention — 1× in this paper · explained in 2 episodes
• Information Gain — 1× in this paper · explained in 2 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Mixture of Experts — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Scaling Laws — 1× in this paper · explained in 4 episodes
• Semantic Understanding — 1× in this paper · explained in 2 episodes
• Two-Stage Architecture — 1× in this paper · explained in 2 episodes
• alpha — 1× in this paper · explained in 1 episode

Sources

• Neural Implicit Dense Semantic SLAM
• Multimodal LLM Guided Exploration and Active Mapping using Fisher Information
• Semantically-aware Neural Radiance Fields for Visual Scene Understanding: A Comprehensive Review
• Semantic Mapping in Indoor Embodied AI -- A Survey on Advances, Challenges, and Future Directions
• RoboAtlas: Contextual Active SLAM
• The Replica Dataset: A Digital Replica of Indoor Spaces
• Active Implicit Object Reconstruction using Uncertainty-guided Next-Best-View Optimization
• OpenMonoGS-SLAM: Monocular Gaussian Splatting SLAM with Open-set Semantics
• ActiveRMAP: Radiance Field for Active Mapping And Planning
• SemGauss-SLAM: Dense Semantic Gaussian Splatting SLAM

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