Training-Free Target-Aware Refinement of 3D Gaussian Language Map

Sibaek Lee, Kyeongsu Kang, Seongbo Ha, Yewon Jeon, Joonyeol Choi +7

Distilling vision-language features into 3D Gaussian Splatting yields a language map that can be queried with arbitrary text. In deployment, however, a small set of user-specified targets must be reliably located, which current distilled maps often miss, while open-vocabulary queryability for other words must remain intact. We propose a training-free, target-aware refinement of an already-distilled language map. Guided by a text-promptable segmenter, the visual embedding inside each detected target region is blended with the target text embedding, a convex combination whose coefficient sets the amount of injected prior, while non-target regions are left untouched. Injecting too much overwrites appearance cues and general queryability, so we seek, for each target, the smallest coefficient that still lets it win, and we obtain every coefficient in closed form, leaving no hyperparameters to tune. We further identify a failure mode of injection in language-goal localization. Text embeddings share a common component, and injecting them makes the standard cosine read-out query-agnostic, which a centering step in the read-out removes. Across three benchmarks, the refinement consistently…