EmbodiedSplat: Online Feed-Forward Semantic 3DGS for Open-Vocabulary 3D Scene Understanding
Paper • 2603.04254 • Published • 1
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The dataset viewer is not available for this subset.
Cannot get the split names for the config 'default' of the dataset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
for split_generator in builder._split_generators(
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 80, in _split_generators
first_examples = list(islice(pipeline, self.NUM_EXAMPLES_FOR_FEATURES_INFERENCE))
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 33, in _get_pipeline_from_tar
for filename, f in tar_iterator:
^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/utils/track.py", line 49, in __iter__
for x in self.generator(*self.args):
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/utils/file_utils.py", line 1380, in _iter_from_urlpath
yield from cls._iter_tar(f)
File "/usr/local/lib/python3.12/site-packages/datasets/utils/file_utils.py", line 1331, in _iter_tar
stream = tarfile.open(fileobj=f, mode="r|*")
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/tarfile.py", line 1886, in open
t = cls(name, filemode, stream, **kwargs)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/tarfile.py", line 1762, in __init__
self.firstmember = self.next()
^^^^^^^^^^^
File "/usr/local/lib/python3.12/tarfile.py", line 2750, in next
raise ReadError(str(e)) from None
tarfile.ReadError: invalid header
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 65, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
info = get_dataset_config_info(
^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
EmbodiedSplat 🛋️
Online Feed-Forward Semantic 3DGS
for Open-Vocabulary 3D Scene Understanding
Seungjun Lee ·
Zihan Wang ·
Yunsong Wang ·
Gim Hee Lee
National University of Singapore
CVPR 2026
Code | Paper | Project Page
Build and understand at Once! By taking over 300 streaming images, our EmbodiedSplat reconstructs whole-scene open-vocabulary 3DGS in online manner at up to 5-6 FPS per-frame processing time. Reconstructed scene supports diverse perception tasks such as open-vocabulary 3D semantic segmentation, 2D-rendered semantic segmentation and novel-view color synthesis with depth rendering.
Citation
If you find our code or paper useful, please cite
@article{lee2026embodiedsplat,
title={EmbodiedSplat: Online Feed-Forward Semantic 3DGS for Open-Vocabulary 3D Scene Understanding},
author={Lee, Seungjun and Wang, Zihan and Wang, Yunsong and Lee, Gim Hee},
journal={arXiv preprint arXiv:2603.04254},
year={2026}
}
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