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Open-vocabulary scene understanding is crucial for robotic applications, enabling robots to comprehend complex 3D environmental contexts and supporting various downstream tasks such as navigation and manipulation. However, existing methods…

Robot world model representations are a vital part of robotic applications. However, there is no support for such representations in model-driven engineering tool chains. This work proposes a novel Domain Specific Language (DSL) for robotic…

In this paper we present a framework for the rendering of dynamic 3D virtual environments which can be integrated in the development of videogames. It includes methods to manage sounds and particle effects, paged static geometries, the…

Careful robot manipulation in every-day cluttered environments requires an accurate understanding of the 3D scene, in order to grasp and place objects stably and reliably and to avoid colliding with other objects. In general, we must…

Holistic 3D scene understanding involves capturing and parsing unstructured 3D environments. Due to the inherent complexity of the real world, existing models have predominantly been developed and limited to be task-specific. We introduce…

Ensuring the safety and efficacy of Cyber-Physical Systems (CPSs) is challenging due to the large variability of their operating environment. Model checking has been proposed for validation of CPSs, but the models of the environment are…

Graphical user interface (UI) software has undergone a fundamental transformation from traditional two-dimensional (2D) desktop/web/mobile interfaces to spatial three-dimensional (3D) environments. While existing work has made remarkable…

Complex 3D scene understanding has gained increasing attention, with scene encoding strategies playing a crucial role in this success. However, the optimal scene encoding strategies for various scenarios remain unclear, particularly…

Vision-language models (VLMs) have recently emerged as powerful representation learning systems that align visual observations with natural language concepts, offering new opportunities for semantic reasoning in safety-critical autonomous…

3D semantic scene understanding is a fundamental challenge in computer vision. It enables mobile agents to autonomously plan and navigate arbitrary environments. SSC formalizes this challenge as jointly estimating dense geometry and…

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant…

Recent advances in 2D-to-3D perception have enabled the recovery of 3D scene semantics from unposed images. However, prevailing methods often suffer from limited generalization, reliance on per-scene optimization, and semantic…

This paper introduces a novel pipeline for generating large-scale, highly realistic, and automatically labeled datasets for computer vision tasks in robotic environments. Our approach addresses the critical challenges of the domain gap…

We present a novel methodology based on geometric approach to simulate magnification lens effects. Our aim is to promote new applications of powerful geometric modeling techniques in visual computing. Conventional image…

Masked signal modeling has greatly advanced self-supervised pre-training for language and 2D images. However, it is still not fully explored in 3D scene understanding. Thus, this paper introduces Masked Shape Prediction (MSP), a new…

Scene understanding is an important capability for robots acting in unstructured environments. While most SLAM approaches provide a geometrical representation of the scene, a semantic map is necessary for more complex interactions with the…

We introduce ScenarioControl, the first vision-language control mechanism for learned driving scenario generation. Given a text prompt or an input image, Scenario-Control synthesizes diverse, realistic 3D scenario rollouts - including map,…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

Performing single image holistic understanding and 3D reconstruction is a central task in computer vision. This paper presents an integrated system that performs dense scene labeling, object detection, instance segmentation, depth…