VISTA couples a view-diversity information metric with CLIP semantics in a receding-horizon planner to improve open-vocabulary object search during online Gaussian Splatting mapping on robots.
Emerging properties in self-supervised vision trans- formers,
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VISTA: Open-Vocabulary, Task-Relevant Robot Exploration with Online Semantic Gaussian Splatting
VISTA couples a view-diversity information metric with CLIP semantics in a receding-horizon planner to improve open-vocabulary object search during online Gaussian Splatting mapping on robots.