Related papers: 3D Environment Modeling for Falsification and Beyo…

Numerous studies have investigated the pivotal role of reliable 3D volume representation in scene perception tasks, such as multi-view stereo (MVS) and semantic scene completion (SSC). They typically construct 3D probability volumes…

Being able to explore an environment and understand the location and type of all objects therein is important for indoor robotic platforms that must interact closely with humans. However, it is difficult to evaluate progress in this area…

One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…

The rapid advances in 3D scanning and acquisition techniques have given rise to the explosive increase of volumetric digital models in recent years. This dissertation systematically trailblazes a novel volumetric modeling framework to…

For robotic interaction in environments shared with other agents, access to volumetric and semantic maps of the scene is crucial. However, such environments are inevitably subject to long-term changes, which the map needs to account for. We…

3D semantic scene graphs (3DSSG) provide compact structured representations of environments by explicitly modeling objects, attributes, and relationships. While 3DSSGs have shown promise in robotics and embodied AI, many existing methods…

Text Worlds are virtual environments for embodied agents that, unlike 2D or 3D environments, are rendered exclusively using textual descriptions. These environments offer an alternative to higher-fidelity 3D environments due to their low…

SelectScript is an extendable, adaptable, and declarative domain-specific language aimed at information retrieval from simulation environments and robotic world models in an SQL-like manner. In this work we have extended the language in two…

The evolution of 3D visual content calls for innovative methods for modelling shapes based on their intended usage, function and role in a complex scenario. Even if different attempts have been done in this direction, shape modelling still…

Accurate open-vocabulary 3D scene understanding requires semantic representations that are both language-aligned and spatially precise at the pixel level, while remaining scalable when lifted to 3D space. However, existing representations…

This thesis introduces "Embodied Spatial Intelligence" to address the challenge of creating robots that can perceive and act in the real world based on natural language instructions. To bridge the gap between Large Language Models (LLMs)…

Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…

Text-to-3D scene generation from natural language is highly desirable for digital content creation. However, existing methods are largely domain-restricted or reliant on predefined spatial relationships, limiting their capacity for…

Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…

The field of novel-view synthesis has recently witnessed the emergence of 3D Gaussian Splatting, which represents scenes in a point-based manner and renders through rasterization. This methodology, in contrast to Radiance Fields that rely…

Various data visualization applications such as reverse engineering and interactive authoring require a vocabulary that describes the structure of visualization scenes and the procedure to manipulate them. A few scene abstractions have been…

This paper studies a model learning and online planning approach towards building flexible and general robots. Specifically, we investigate how to exploit the locality and sparsity structures in the underlying environmental transition model…

The generation of immersive and navigable 3D environments is increasingly prevalent with the growing adoption of virtual reality and 3D content. However, recent methods face a fundamental limitation: they cannot produce 3D worlds that…

Panorama images have a much larger field-of-view thus naturally encode enriched scene context information compared to standard perspective images, which however is not well exploited in the previous scene understanding methods. In this…

Real-world data collection for embodied agents remains costly and unsafe, calling for scalable, realistic, and simulator-ready 3D environments. However, existing scene-generation systems often rely on rule-based or task-specific pipelines,…