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CoRef-GS: Cooperative Referring Gaussian Splatting for Multi-Agent Scene Understanding

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

Referring scene understanding for embodied robots requires grounding object- and relation-centric language queries from a designated viewpoint. While a local semantic Gaussian map can support such grounding within one agent's observations, cooperative settings require this ability to remain effective after independently reconstructed maps are aligned and fused. In this setting, the referred target or its contextual landmark may come from another agent's observations, while spatial relations must still be interpreted from the querying robot's viewpoint. We formulate this problem as cooperative

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