HIGS: Hierarchical Implicit Grids for Joint Geometric and Semantic Scene Understanding

arXiv:2609.38620 · cs.CV, cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Project page: https://existentialrobotics.org/HIGS_webpage

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Alignment — 59× in this paper · explained in 1 episode
• Grounding — 41× in this paper · explained in 3 episodes
• Accuracy — 22× in this paper · explained in 1 episode
• Transformer — 10× in this paper · explained in 2 episodes
• Ablation — 9× in this paper · explained in 1 episode
• Regularization — 8× in this paper · explained in 3 episodes
• Cosine Similarity — 7× in this paper · explained in 3 episodes
• Adam — 6× in this paper · explained in 2 episodes
• Fidelity — 6× in this paper · explained in 2 episodes
• Point Clouds — 6× in this paper · explained in 2 episodes
• Semantic Understanding — 5× in this paper · explained in 2 episodes
• Ablation study — 4× in this paper · explained in 1 episode
• Decode — 4× in this paper · explained in 2 episodes
• Embeddings — 4× in this paper · explained in 2 episodes
• Fast Point Transformer — 4× in this paper
• Signed Distance Field — 4× in this paper
• Consistency — 3× in this paper · explained in 3 episodes
• Ablation Studies — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• CVF International Conference on Computer Vision — 2× in this paper
• Conference on Computer Vision and Pattern Recognition — 2× in this paper
• European Conference on Computer Vision — 2× in this paper
• Generalization — 2× in this paper · explained in 13 episodes
• Guided attention — 2× in this paper · explained in 2 episodes
• Loss Function — 2× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Task Planning — 2× in this paper · explained in 2 episodes
• Transactions on Graphics — 2× in this paper
• Visual Grounding — 2× in this paper · explained in 2 episodes
• 3D Gaussian Splatting — 1× in this paper · explained in 2 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Alignment Problem — 1× in this paper · explained in 1 episode
• Catastrophic Forgetting — 1× in this paper · explained in 5 episodes
• Core — 1× in this paper · explained in 2 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Gaussian Splatting — 1× in this paper · explained in 4 episodes
• Latent Space — 1× in this paper · explained in 7 episodes

Sources

• Averaging Weights Leads to Wider Optima and Better Generalization
• Qwen-3D: A Generalist 3D Vision-Language Model for Spatial Understanding
• Generalized Intersection over Union: A Metric and A Loss for Bounding Box Regression
• The Replica Dataset: A Digital Replica of Indoor Spaces
• How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Survey
• Vox-Fusion++: Voxel-based Neural Implicit Dense Tracking and Mapping with Multi-maps
• Multi-Camera LiDAR Inertial Extension to the Newer College Dataset
• Open3D: A Modern Library for 3D Data Processing

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