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Yihao Chen, Haobo Jiang, Liang Yu, Jianmin Zheng

Detecting Schelling Points—salient 3D mesh landmarks that serve as natural reference points for shape analysis—is a challenging problem in geometry processing. While existing CNN-based methods struggle with limited receptive fields and poor geometric context modeling, this paper proposes {\em SchellingFormer}, a novel Laplacian matrix-guided Geometric Transformer that effectively captures long-range dependencies and discriminative geometric features for robust Schelling point prediction. Our framework consists of two key components: (i) a hybrid geometric feature embedding module that integrates handcrafted descriptors (coordinates, Gaussian curvature, and curvature differences) to encode local geometry, and (ii) a Laplacian-driven vector attention mechanism, where spatial relationships encoded by the Laplacian matrix guide feature aggregation with the Transformer. This approach enables adaptive, geometry-aware message passing and contextual representation learning. Extensive experiments demonstrate that SchellingFormer outperforms state-of-the-art methods across multiple evaluation metrics. Our work bridges the gap between spectral mesh analysis and Transformer-based learning, offering a powerful tool for 3D shape understanding tasks such as shape matching and saliency detection.

Ankit Kanwar, Hartej Soin, Abhinav Barnawal, Mudit Chopra, Harshil Vagadia, Tamajit Banerjee, Shreshth Tuli, Rohan Paul, Souvik Chakraborty

Given the task of landing a ball in a goal region beyond direct reach, humans can often throw, slide, or rebound objects against the wall to attain the goal. Enabling robots to replicate such reasoning is non-trivial as it requires multi-step planning and involves a mixture of discrete and continuous action spaces, a sparse and sensitive reward structure, computationally expensive simulations, and an incomplete understanding of the environment's physics. We present PhyPlan, a physics-informed and adaptable planning framework for efficient multi-step physical reasoning. At its core, PhyPlan comprises of Generative Flow Networks (GFlowNets) and Monte Carlo Tree Search (MCTS) to explore and evaluate sequences of object interactions. GFlowNets sample discrete action sequences in proportion to their associated reward, enabling broad and reward-driven exploration of the discrete planning space. MCTS complements this by adaptively balancing the use of a fast but approximate pre-trained physics-informed dynamics predictor and costly but accurate environment rollouts, ensuring both speed and precision in planning. The known and actual physics discrepancy is captured using Gaussian Process Regression. Experiments on benchmark simulated tasks requiring composition of collisions, slides, and rebounds demonstrate that PhyPlan achieves a 45\% higher success rate and up to 3× efficiency gains over state-of-the-art model-based reinforcement learning approaches.

Wenchao Liu, Hongwei Li, Zhouyang Xu, Lin Ma, Haifeng Li

In recent years, electroencephalography (EEG)-based visual decoding research has become a key direction for revealing brain processing mechanisms and realizing brain-computer interfaces. This emerging field has attracted extensive attention in the fields of brain science, cognitive neuroscience, and artificial intelligence. Among various approaches, contrastive learning has demonstrated strong performance in aligning multi-modal data, effectively enabling unified representations across modalities. However, during human visual perception, images are often subject to varying degrees of blurring due to the uneven distribution of retinal photoreceptor cells and the limited speed of lens accommodation. To address the mismatch between EEG and visual representations, we propose a novel visual decoding framework inspired by human perceptual blurring. Specifically, multi-level Gaussian blurring is applied to the visual stimuli to simulate human visual characteristics, followed by a feature selection module to construct robust visual representations. For EEG decoding, we design a lightweight and efficient network employing positively constrained spatial convolutions to identify channels associated with visual processing. The EEG and visual features are then aligned using contrastive learning. We evaluate the proposed framework on the Things-EEG dataset. Experimental results show significant improvements in the zero-shot brain-to-image retrieval task, achieving a top-1 accuracy of 80% and a top-5 accuracy of 96.9%, surpassing previous state-of-the-art methods by margins of 29.1% and 17.2%, respectively. These findings highlight the potential of incorporating perceptual properties into EEG-based visual decoding.

Xuetao Li, Wenke Huang, Nengyuan Pan, Kaiyan Zhao, Songhua Yang, Yiming Wang, Mengde Li, Mang Ye, Jifeng Xuan, Miao Li

Humanoid robots exhibit significant potential in executing diverse human-level skills. However, current research predominantly relies on data-driven approaches that necessitate extensive training datasets to achieve robust multimodal decision-making capabilities and generalizable visuomotor control. These methods raise concerns due to the neglect of geometric reasoning in unseen scenarios and the inefficient modeling of robot-target relationships within the training data, resulting in a significant waste of training resources. To address these limitations, we present the Recurrent Geometric-prior Multimodal Policy (RGMP), an end-to-end framework that unifies geometric-semantic skill reasoning with data-efficient visuomotor control. For perception capabilities, we propose the Geometric-prior Skill Selector, which infuses geometric inductive biases into a vision language model, producing adaptive skill sequences for unseen scenes with minimal spatial common sense tuning. To achieve data-efficient robotic motion synthesis, we introduce the Adaptive Recursive Gaussian Network, which parameterizes robot-object interactions as a compact hierarchy of Gaussian processes that recursively encode multi-scale spatial relationships, yielding dexterous, data-efficient motion synthesis even from sparse demonstrations. Evaluated on both our humanoid robot and desktop robot, the RGMP framework achieves 87% task success in generalization tests and exhibits 5× greater data efficiency than the state-of-the-art model. This performance underscores its superior cross-domain generalization, paving the way for more versatile and data-efficient robotic systems.

Yong Chen, Li Li, Nannan Zong, Zhihui Liu, Song-Zhi Su

Learning representations on graphs is foundational for many downstream tasks, and its synergy with diffusion models has emerged as a promising direction. However, diffusion-based methods for heterogeneous graphs remain underexplored, confronting two principal challenges: (1) The presence of noise and structural heterogeneity in graphs makes it challenging to accurately capture semantic transitions among diverse relation types. (2) The isotropic Gaussian noise used in forward diffusion fails to reflect graphs' inherent semantics and structural anisotropy. To address these, we propose ARDiff, a novel framework that integrates residual diffusion with anisotropic noise for heterogeneous graph learning. Specifically, we propose a semantic residual diffusion mechanism that progressively refines node embeddings by orchestrating transitions from low-semantic (high-noise) to high-semantic (low-noise) relational contexts, thus enabling step-wise distillation of task-relevant information. In addition, to address the limitations of conventional diffusion, we introduce an anisotropic diffusion strategy: in the forward process, noise injection is oriented by structural and semantic priors; in the denoising step, a conditional diffusion mechanism is guided by a random walk encoding, enhancing both topological consistency and semantic alignment. Extensive evaluation on heterogeneous graph datasets demonstrates that ARDiff significantly surpasses current leading methods in link prediction and node classification, setting a new paradigm and benchmark in heterogeneous graph representation learning.

Ziyi Cao, Rui Liu, Yong Chen

Multimodal video recommendation systems face fundamental challenges in determining optimal fusion strategies across diverse content types and user preferences. Existing methods suffer from two critical limitations: (1) their fusion strategies are guided by context-agnostic priors that ignore the semantic structure of content, assuming the same simple distribution (typically a standard multivariate Gaussian prior) governs optimal fusion for all video types, and (2) their optimization objectives, particularly the Evidence Lower Bound (ELBO), are misaligned with the final recommendation goal, optimizing for feature reconstruction rather than ranking performance. To address these fundamental issues, this work proposes VBF++, a novel framework that introduces context-aware structured priors and recommendation-guided adversarial refinement. First, the method designs context-aware priors that learn cluster-specific distributions based on video semantic categories, replacing uninformative priors with structured, content-aware prior distributions. Second, it introduces a Recommendation-Guided Adversarial Refinement (RAR) paradigm that explicitly steers the learning process towards generating recommendation-optimal fusion strategies, resolving the objective misalignment inherent in variational learning. Enhanced with domain-adaptive meta-learning, extensive experiments on three real-world datasets demonstrate consistent improvements of 4.7-8.3 percent in Precision@10 over state-of-the-art methods. Analysis reveals that learned fusion strategies exhibit semantically meaningful patterns, prioritizing visual features for action content, acoustic information for music videos, and textual descriptions for documentary material.

Boyao Zhou, Shunyuan Zheng, Zhanfeng Liao, Zihan Ma, Hanzhang Tu, Boning Liu, Yebin Liu

We present Splat-SAP, a feed-forward approach to render novel views of human-centered scenes from binocular cameras with large sparsity. Gaussian Splatting has shown its promising potential in rendering tasks, but it typically necessitates per-scene optimization with dense input views. Although some recent approaches achieve feed-forward Gaussian Splatting rendering through geometry priors obtained by multi-view stereo, such approaches still require largely overlapped input views to establish the geometry prior. To bridge this gap, we leverage pixel-wise point map reconstruction to represent geometry which is robust to large sparsity for its independent view modeling. In general, we propose a two-stage learning strategy. In stage 1, we transform the point map into real space via an iterative affinity learning process, which facilitates camera control in the following. In stage 2, we project point maps of two input views onto the target view plane and refine such geometry via stereo matching. Furthermore, we anchor Gaussian primitives on this refined plane in order to render high-quality images. As a metric representation, the scale-aware point map in stage 1 is trained in a self-supervised manner without 3D supervision and stage 2 is supervised with photo-metric loss. We collect multi-view human-centered data and demonstrate that our method improves both the stability of point map reconstruction and the visual quality of free-viewpoint rendering.

Huimin Zeng, Yue Bai, Yun Fu

Existing 3D Gaussian Splatting (3DGS) super-resolution methods typically perform high-resolution (HR) rendering of fixed scale factors, making them impractical for resource-limited scenarios. Directly rendering arbitrary-scale HR views with vanilla 3DGS introduces aliasing artifacts due to the lack of scale-aware rendering ability, while adding a post-processing upsampler for 3DGS complicates the framework and reduces rendering efficiency. To tackle these issues, we build an integrated framework that incorporates scale-aware rendering, generative prior-guided optimization, and progressive super-resolving to enable 3D Gaussian super-resolution of arbitrary scale factors with a single 3D model. Notably, our approach supports both integer and non-integer scale rendering to provide more flexibility. Extensive experiments demonstrate the effectiveness of our model in producing high-quality arbitrary-scale HR views (6.59 dB PSNR gain over 3DGS) with a single model. It preserves structural consistency with LR views and across different scales, while maintaining real-time rendering speed (85 FPS at 1080p).

Jinze Yu, Yiqun Wang, Aiheng Jiang, Zhengda Lu, Jianwei Guo, Yong Li, Hongxing Qin, Xiaopeng Zhang

Current novel view synthesis methods are typically designed for high-quality and clean input images. However, in foggy scenes, scattering and attenuation can significantly degrade the quality of rendering. Although NeRF-based dehazing approaches have been developed, their reliance on deep fully connected neural networks and per-ray sampling strategies leads to high computational costs. Furthermore, NeRF's implicit representation limits its ability to recover fine-grained details from hazy scenes. To overcome these limitations, we propose DehazeGS, the first physics-driven 3D Gaussian Splatting (3DGS) framework for dehazing. We adopt an explicit Gaussian representation to model fog formation via a physically consistent forward rendering process, enabling reconstruction and rendering of fog-free scenes using only multi-view foggy images as input. Specifically, based on the atmospheric scattering model, we simulate the formation of fog by establishing the transmission function directly on Gaussian primitives via depth-to-transmission mapping. During training, we jointly learn the atmospheric light and scattering coefficients while optimizing the Gaussian representation of foggy scenes. At inference time, we remove the effects of scattering and attenuation in Gaussian distributions and directly render the scene to obtain dehazed views. Experiments on both real-world and synthetic foggy datasets demonstrate that DehazeGS achieves state-of-the-art performance.

Rui Yang, Yunfei Bai, Yuehua Liu, Xiaomao Li, Shaorong Xie

In semi-supervised semantic segmentation (SSSS), segmentation performance is heavily constrained by the quality of pseudo labels. However, prevalent pseudo-label optimization approaches rely on the model’s internal self-correction. When the model fails to recognize or adequately represent certain classes, this self-enhancement mechanism amplifies initial mistakes, ultimately leading to poor semantic or spatial consistency. To address this limitation, we propose ViLaDiff to enhance pseudo-label quality. Specifically, ViLaDiff first employs a prompt-guided image captioning task to generate descriptive text for each input image, providing high-level semantic context. To our knowledge, this is the first attempt to introduce vision-language modeling into SSSS. We design a vision-language fusion module to enhance feature semantics and discriminative capability. It integrates cross-modal interactions with dual-path knowledge to ensure semantic consistency. Additionally, while language provides high-level semantic guidance, it is inherently limited in expressing fine-grained spatial structures. Therefore, we propose an edge-aware mixed-noise diffusion process. It simulates feature-level uncertainty through Gaussian perturbations and introduces class-flipping noise into the masks to model misclassification errors. To enhance boundary refinement, we apply a higher flipping probability along mask edges, enabling edge-aware modeling during denoising. Extensive experiments on public benchmarks validate that our method significantly improves pseudo-label quality and segmentation performance.

Zhixin Xu, Hengyu Zhou, Yuan Liu, Wenhan Xue, Hao Pan, Wenping Wang, Bin Wang

Multi-view video reconstruction plays a vital role in computer vision, enabling applications in film production, virtual reality, and motion analysis. While recent advances such as 3D Gaussian Splatting have demonstrated impressive capabilities in dynamic scene reconstruction, they typically rely on the assumption that input video streams are temporally synchronized. However, in real-world scenarios, this assumption often fails due to factors like camera trigger delays, frame rate discrepancies, or independent recording setups, leading to temporal misalignment across views and reduced reconstruction quality. To address this challenge, a novel temporal alignment strategy is proposed for high-quality 4DGS reconstruction from unsynchronized multi-view videos. Our method features a coarse-to-fine alignment module that estimates and compensates for each camera's time shift. The method first determines a coarse, frame-level offset and then refines it to achieve sub-frame accuracy. This strategy can be integrated as a plug-and-play module into existing 4DGS frameworks, enhancing their robustness when handling asynchronous data. Experiments show that this approach effectively processes temporally misaligned videos and significantly enhances baseline methods.

Long Xi, Jia Ma, ZhenYu Yuan, Tao Xue, Wen Tang, Wen Lv

A 3D point cloud completion task is to generate completed 3D objects given partial observations. Auto-encoder-based models suffer from poor generalization ability to untrained 3D data. Current diffusion-based models add isotropic noise with the same variance in three x, y, z axes. More importantly, these models ignore real-world anisotropic evolution properties of 3D particles from a non-equilibrium state to thermodynamic equilibrium in the real physical world due to the velocity and energy thermodynamics of the particles, leading to unstable completions of 3D object topology. This paper presents a novel physically-based anisotropic 3D diffusion model (3DDM) to address these issues. We also present derivations of our proposed forward and reverse processes and a loss function in closed form, thus reproducibility. The 3DDM contains anisotropic energy-aware forward and reverse processes with a novel anisotropic quadratic loss function. The forward process adds anisotropic 3D Gaussian noises per-axis and mimics the thermal non-equilibrium evolution towards Maxwellian equilibrium based on velocity and kinetic energy evolutions of 3D particles in the real physical space. The reverse process learns to denoise along per-axis and per-timestep anisotropically. The anisotropic quadratic loss function penalizes errors along certain axes, yielding a highly flexible and anisotropic reverse diffusion process and a physically realistic generative model. The 3DDM denoises along x, y, z axes with different velocities from the non-equilibrium evolution, achieving fewer than 20 diffusion steps and strong generalization to unseen 3D objects and real-world scenes that were not trained.

Zihao Wang, Hao Peng, Wei Dong, Yuecen Wei, Li Sun, Zhengtao Yu

Differentially private (DP) image synthesis enables the generation of realistic images while bounding privacy leakage, facilitating secure data sharing across organizations. However, the Gaussian noise injected during DP training, such as via DP-SGD, often severely degrades synthesis quality by disrupting model convergence. To address this, we introduce RPGen, a novel framework that enhances diffusion models' parameter robustness to mitigate DP noise effects without compromising privacy guarantees. At its core, RPGen employs adversarial model perturbation (AMP) during public pre-training to build resilience against perturbations, but we identify and tackle the critical issue of robustness transferability across domains. RPGen achieves this through a three-step process: (1) A pre-trained classifier infers labels for private images, aggregated into a class distribution noised with Gaussian mechanism for DP, and public samples are selected to match this privatized distribution for domain alignment; (2) The diffusion model is pre-trained on this curated subset with adversarial model perturbation to foster robustness; (3) The model undergoes fine-tuning on private data using DP-SGD. This synergy of robustness augmentation and transferability optimization yields high-fidelity synthesis. Extensive evaluations on ImageNet for pre-training, with CelebA and CIFAR-10 for synthesis, show RPGen outperforming state-of-the-art baselines across epsilon in 1, 5, 10. On average, it achieves 20.18% lower FID and 5.45% higher classification accuracy. Ablations confirm the efficacy of domain curation and modest perturbations, establishing RPGen as a new benchmark for privacy-utility trade-offs in image generation.

Yuxuan Wang, Xuanyu Yi, Qingshan Xu, Yuan Zhou, Long Chen, Hanwang Zhang

Personalizing 3D scenes from a single reference image enables intuitive user-guided editing, which requires achieving both multi-view consistency across perspectives and referential consistency with the input image. However, these goals are particularly challenging due to the viewpoint bias caused by the limited perspective provided in a single image. Lacking the mechanisms to effectively expand reference information beyond the original view, existing methods of image-conditioned 3DGS personalization often suffer from this viewpoint bias and struggle to produce consistent results. Therefore, in this paper, we present Consistent Personalization for 3D Gaussian Splatting (CP-GS), a framework that progressively propagates the single-view reference appearance to novel perspectives. In particular, CP-GS integrates pre-trained image-to-3D generation and iterative LoRA fine-tuning to extract and extend the reference appearance, and finally produces faithful multi-view guidance images and the personalized 3DGS outputs through a view-consistent generation process guided by geometric cues. Extensive experiments on real-world scenes show that our CP-GS effectively mitigates the viewpoint bias, achieving high-quality image-conditioned 3DGS personalization that significantly outperforms existing methods.

Yijing Wang, Xu Tang, Xiangrong Zhang, Jingjing Ma

High-resolution Earth Observation technologies present unprecedented opportunities for geospatial analysis, yet traditional 2D aerial-view semantic segmentation remains limited by its inability to model spatial relationships and handle object occlusions. While 3D Aerial-view Segmentation (3DAS) has emerged to address these limitations, existing methods predominantly rely on 2D discriminative models pre-trained on natural scenes. These models struggle to accurately recognize aerial-view imagery, resulting in suboptimal performance due to significant domain discrepancies. This paper introduces ID-Splat, a novel object-centric framework that directly leverages multi-view object identities without discriminative information to enhance 3D semantic understanding. ID-Splat implements a two-stage process: first, Mask-object Tracking combines SAM and Point Tracking to establish robust and consistent object identities across multi-view aerial images; second, Object Integration & Propagation assigns these identities to 3D Gaussian Splatting (3DGS) points, enabling complete 3D segmentation through semantic propagation. Experimental results on the 3D-AS dataset demonstrate that ID-Splat significantly outperforms existing methods, particularly under sparse supervision conditions. ID-Splat also achieves state-of-the-art performance while reducing the need for extensive labeled data by effectively leveraging the inherent 3D structure.

Suqin Wang, Zeyi Wang, Min Shi, Zhaoxin Li, Qi Wang, Xiujuan Chai, Dengming Zhu

Although geometric reconstruction of general objects from images has made remarkable progress in recent years, slender structures remain largely underexplored, despite their critical importance in engineering, biomedical, and agricultural applications. To bridge this gap, we propose a dedicated 2DGS-based geometric reconstruction framework tailored for slender structures, achieving accurate and faithful geometry recovery. Our method first addresses the challenge that most slender objects are texture-less, which hinders reliable feature matching and pose estimation in traditional SfM pipelines. By leveraging the curve-like nature of slender structures, we perform a curve-guided SfM process that provides robust camera poses and accurate 3D curve initialization for Gaussian primitives. To ensure SfM reliability, we introduce a high-precision mask extraction strategy that integrates geometric priors with a segmentation network, effectively handling self-occlusion and thin geometry. Furthermore, to enhance fine geometric recovery, we incorporate a differentiable Poisson reconstruction module to extract an initial mesh during training, which is then refined via image-space iterative optimization using differentiable mesh rasterization. In contrast to conventional approaches that rely on differentiable Gaussian rasterization followed by TSDF-based mesh extraction, our method avoids the additional geometric errors and artifacts introduced during the intermediate TSDF conversion, thereby improving the overall reconstruction quality. Comprehensive experiments on both synthetic and real-world datasets validate that our method achieves superior reconstruction quality compared to state-of-the-art approaches.

Jingyang Wang, Hengyue Bi, Jingchao Cao, Feng Gao, Junyu Dong

The scarcity of paired data severely limits the performance and generalization of learning-based underwater image enhancement (UIE) methods. This challenge is particularly prominent in scenes with complex degradations. Semi-supervised learning has emerged as a promising solution by enabling the utilization of large-scale unlabeled data. However, its effectiveness is limited by the use of static, model-agnostic metrics for pseudo-label reliability assessment. To address this, we propose SEA-PACE, a novel semi-supervised framework that integrates model-aware uncertainty modeling and self-paced consistency learning to fully exploit unlabeled data for UIE. Specifically, we design a Model-Aware Reliability Estimator (MARE) that quantifies the uncertainty of the teacher model's predictions through Gaussian Process Regression in latent feature space. The resulting uncertainty is then transformed into reliability weights via a rank-based mapping. Additionally, we apply the Self-Paced Consistency Learning (SPCL) strategy that employs a loss-aware schedule to dynamically prioritize high-confidence pseudo-labels, gradually incorporating more challenging samples during training. Extensive experiments on several public UIE benchmarks demonstrate that SEA-PACE consistently surpasses state-of-the-art methods in both visual quality and generalization capability.

Changyue Shi, Chuxiao Yang, Xinyuan Hu, Minghao Chen, Wenwen Pan, Yan Yang, Jiajun Ding, Zhou Yu, Jun Yu

Dynamic Gaussian Splatting approaches have achieved remarkable performance for 4D scene reconstruction. However, these approaches rely on dense-frame video sequences for photorealistic reconstruction. In real-world scenarios, due to equipment constraints, sometimes only sparse frames are accessible. In this paper, we propose Sparse4DGS, the first method for sparse-frame dynamic scene reconstruction. We observe that dynamic reconstruction methods fail in both canonical and deformed spaces under sparse-frame settings, especially in areas with high texture richness. Sparse4DGS tackles this challenge by focusing on texture-rich areas. For the deformation network, we propose Texture-Aware Deformation Regularization, which introduces a texture-based depth alignment loss to regulate Gaussian deformation. For the canonical Gaussian field, we introduce Texture-Aware Canonical Optimization, which incorporates texture-based noise into the gradient descent process of canonical Gaussians. Extensive experiments show that when taking sparse frames as inputs, our method outperforms existing dynamic or few-shot techniques on NeRF-Synthetic, HyperNeRF, NeRF-DS, and our iPhone-4D datasets.

Rui Qian, Haozhi Cao, Tianchen Deng, Shenghai Yuan, Lihua Xie

Monocular 3D Semantic Scene Completion (SSC) is a challenging yet promising task that aims to infer dense geometric and semantic descriptions of a scene from a single image. While recent object-centric paradigms significantly improve efficiency by leveraging flexible 3D Gaussian primitives, they still rely heavily on a large number of randomly initialized primitives, which inevitably leads to 1) inefficient primitive initialization and 2) outlier primitives that introduce erroneous artifacts. In this paper, we propose SplatSSC, a novel framework that resolves these limitations with a depth-guided initialization strategy and a principled Gaussian aggregator. Instead of random initialization, SplatSSC utilizes a dedicated depth branch composed of a Group-wise Multi-scale Fusion (GMF) module, which integrates multi-scale image and depth features to generate a sparse yet representative set of initial Gaussian primitives. To mitigate noise from outlier primitives, we develop the Decoupled Gaussian Aggregator (DGA), which enhances robustness by decomposing geometric and semantic predictions during the Gaussian-to-voxel splatting process. Complemented with a specialized Probability Scale Loss, our method achieves state-of-the-art performance on the Occ-ScanNet dataset, outperforming prior approaches by over 6.3% in IoU and 4.1% in mIoU, while reducing both latency and memory cost by more than 9.3%.

Yuning Peng, Haiping Wang, Yuan Liu, Chenglu Wen, Zhen Dong, Bisheng Yang

3D open-vocabulary scene understanding, which accurately perceives complex semantic properties of objects in space, has gained significant attention in recent years. In this paper, we propose GAGS, a framework that distills 2D CLIP features into 3D Gaussian splatting, enabling open-vocabulary queries for renderings on arbitrary viewpoints. The main challenge of distilling 2D features for 3D fields lies in the multiview inconsistency of extracted 2D features, which provides unstable supervision for the 3D feature field. GAGS addresses this challenge with two novel strategies. First, GAGS associates the prompt point density of SAM with the camera distances to scene objects, which significantly improves the multiview consistency of segmentation results. Second, GAGS further decodes a granularity factor to guide the distillation process and this granularity factor can be learned in a unsupervised manner to only select the multiview consistent 2D features in the distillation process. Experimental results on two datasets show that GAGS improves visual grounding accuracy by an average of 10.9% and semantic segmentation accuracy by an average of 7.0%, with an inference speed 2× faster than baseline methods.