ReCoSplat: Online Feed-Forward Gaussian Splatting via Render-and-Compare

ReCoSplat is an online feed‑forward Gaussian splatting model that can synthesize novel views from a stream of observations, handling both posed and unposed inputs and optionally using camera intrinsics. It introduces a Render‑and‑Compare module that renders the current scene from the viewpoint of the incoming observation and compares it to the observation, providing a stable conditioning signal to mitigate the mismatch caused by predicted camera poses. A hybrid KV‑cache compression strategy further reduces memory usage, enabling the model to process long sequences efficiently while achieving state‑of‑the‑art performance on online view synthesis tasks.