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SenseFuse: Label-Free Fusion of Image and Shape Encoders for Open-Vocabulary 3D Instance Segmentation

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Open-vocabulary scene understanding is fundamental for robotics, laying the groundwork for spatial reasoning and object manipulation. While closed-vocabulary 3D instance segmentation heavily leverages 3D shape information, state-of-the-art open-vocabulary methods remain predominantly restricted to 2D image features or image-distilled representations during mask labeling. In this paper, we propose SenseFuse, a label-free fusion method that balances 2D image and 3D shape encoders for robust open-vocabulary 3D instance segmentation, refining only the mask-labeling stage of existing pipelines. We

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