GaussLite: Online Task-Conditioned 3D Gaussian Splatting for Real-Time Robotic Mapping

arXiv:2606.30809v1 Announce Type: new Abstract: Existing 3D Gaussian Splatting (3DGS) systems distribute representation capacity uniformly across a scene, ignoring the fact that many downstream robotic tasks engage only a fraction of the reconstructed geometry. This causes valuable onboard compute to be allocated towards optimizing irrelevant parts of the scene, either limiting online capacity or under-optimizing the most relevant parts of the scene. We introduce GaussLite, a task-driven 3DGS ma...