Related papers: GaussNav: Gaussian Splatting for Visual Navigation

Instance Image-Goal Navigation (IIN) requires autonomous agents to identify and navigate to a target object or location depicted in a reference image captured from any viewpoint. While recent methods leverage powerful novel view synthesis…

Image-goal navigation enables a robot to reach the location where a target image was captured, using visual cues for guidance. However, current methods either rely heavily on data and computationally expensive learning-based approaches or…

The Instance Image Goal Navigation (IIN) problem requires mobile robots deployed in unknown environments to search for specific objects or people of interest using only a single reference goal image of the target. This problem can be…

Object navigation is a core capability of embodied intelligence, enabling an agent to locate target objects in unknown environments. Recent advances in vision-language models (VLMs) have facilitated zero-shot object navigation (ZSON).…

Visual navigation with an image as goal is a fundamental and challenging problem. Conventional methods either rely on end-to-end RL learning or modular-based policy with topological graph or BEV map as memory, which cannot fully model the…

This paper presents a novel approach to image-goal navigation by integrating 3D Gaussian Splatting (3DGS) with Visual Navigation Models (VNMs), a method we refer to as GSplatVNM. VNMs offer a promising paradigm for image-goal navigation by…

Recently, the emergence of 3D Gaussian Splatting (3DGS) has drawn significant attention in the area of 3D map reconstruction and visual SLAM. While extensive research has explored 3DGS for indoor trajectory tracking using visual sensor…

As a new embodied vision task, Instance ImageGoal Navigation (IIN) aims to navigate to a specified object depicted by a goal image in an unexplored environment. The main challenge of this task lies in identifying the target object from…

We consider the problem of embodied visual navigation given an image-goal (ImageNav) where an agent is initialized in an unfamiliar environment and tasked with navigating to a location 'described' by an image. Unlike related navigation…

3D Gaussian Splatting (3DGS) has emerged as a powerful and efficient 3D representation for novel view synthesis. This paper extends 3DGS capabilities to inpainting, where masked objects in a scene are replaced with new contents that blend…

Sparse-view scene reconstruction often faces significant challenges due to the constraints imposed by limited observational data. These limitations result in incomplete information, leading to suboptimal reconstructions using existing…

3D Gaussian Splatting (3DGS), a 3D representation method with photorealistic real-time rendering capabilities, is regarded as an effective tool for narrowing the sim-to-real gap. However, it lacks fine-grained semantics and physical…

Training embodied AI agents depends critically on the visual fidelity of simulation environments and the ability to model dynamic humans. Current simulators rely on mesh-based rasterization with limited visual realism, and their support for…

3D Gaussian Splatting (3DGS) has recently emerged as a fast, high-quality method for novel view synthesis (NVS). However, its use of low-degree spherical harmonics limits its ability to capture spatially varying color and view-dependent…

Vision-and-Language Navigation (VLN), where an agent follows instructions to reach a target destination, has recently seen significant advancements. In contrast to navigation in discrete environments with predefined trajectories, VLN in…

Novel view synthesis for underwater scene reconstruction presents unique challenges due to complex light-media interactions. Optical scattering and absorption in water body bring inhomogeneous medium attenuation interference that disrupts…

Experience Goal Visual Rearrangement task stands as a foundational challenge within Embodied AI, requiring an agent to construct a robust world model that accurately captures the goal state. The agent uses this world model to restore a…

Reconstructing 3D assets from images, known as inverse rendering (IR), remains a challenging task due to its ill-posed nature. 3D Gaussian Splatting (3DGS) has demonstrated impressive capabilities for novel view synthesis (NVS) tasks.…

Reconstructing high-fidelity underwater scenes remains a challenging task due to light absorption, scattering, and limited visibility inherent in aquatic environments. This paper presents an enhanced Gaussian Splatting-based framework that…

Vision-Language Navigation (VLN) requires an agent to navigate 3D environments following natural language instructions. During navigation, existing agents commonly encounter perceptual uncertainty, such as insufficient evidence for reliable…