Related papers: ASHiTA: Automatic Scene-grounded HIerarchical Task…

A 3D scene graph represents a compact scene model by capturing both the objects present and the semantic relationships between them, making it a promising structure for robotic applications. To effectively interact with users, an embodied…

Bridging natural language and 3D geometry is a crucial step toward flexible, language-driven scene understanding. While recent advances in 3D Gaussian Splatting (3DGS) have enabled fast and high-quality scene reconstruction, research has…

The need for large amounts of training and validation data is a huge concern in scaling AI algorithms for autonomous driving. Semantic Image Synthesis (SIS), or label-to-image translation, promises to address this issue by translating…

Humans have the capability, aided by the expressive compositionality of their language, to learn quickly by demonstration. They are able to describe unseen task-performing procedures and generalize their execution to other contexts. In this…

Collaborative dialogue relies on participants incrementally establishing common ground, yet in asymmetric settings they may believe they agree while referring to different entities. We introduce a perspectivist annotation scheme for the…

Video-and-Language Inference is a recently proposed task for joint video-and-language understanding. This new task requires a model to draw inference on whether a natural language statement entails or contradicts a given video clip. In this…

Prompt-driven scene synthesis allows users to generate complete 3D environments from textual descriptions. Current text-to-scene methods often struggle with complex geometries and object transformations, and tend to show weak adherence to…

Hierarchical learning (HL) is key to solving complex sequential decision problems with long horizons and sparse rewards. It allows learning agents to break-up large problems into smaller, more manageable subtasks. A common approach to HL,…

Grounding object properties and relations in 3D scenes is a prerequisite for a wide range of artificial intelligence tasks, such as visually grounded dialogues and embodied manipulation. However, the variability of the 3D domain induces two…

The recent breakthroughs in the research on Large Language Models (LLMs) have triggered a transformation across several research domains. Notably, the integration of LLMs has greatly enhanced performance in robot Task And Motion Planning…

Vision-language models have recently emerged as promising planners for autonomous driving, where success hinges on topology-aware reasoning over spatial structure and dynamic interactions from multimodal input. However, existing models are…

We propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are…

Vision-language models (VLMs) have achieved remarkable success in scene understanding and perception tasks, enabling robots to plan and execute actions adaptively in dynamic environments. However, most multimodal large language models lack…

Subterranean (SubT) environments have been a frontier for autonomous robotics, driven by the push for automation of mining operations and the interest in planetary exploration (Martian Lava Tubes). Due to the challenges involved in…

In order to efficiently learn with small amount of data on new tasks, meta-learning transfers knowledge learned from previous tasks to the new ones. However, a critical challenge in meta-learning is the task heterogeneity which cannot be…

Assessing the capacity of Large Language Models (LLMs) to plan and reason within the constraints of interactive environments is crucial for developing capable AI agents. We introduce $\textbf{LLM-BabyBench}$, a new benchmark suite designed…

This paper addresses the problem of robot navigation in mixed geometric/semantic 3D environments. Given a hierarchical representation of the environment, the objective is to navigate from a start position to a goal, while satisfying…

We introduce a non-parametric hierarchical Bayesian approach for open-ended 3D object categorization, named the Local Hierarchical Dirichlet Process (Local-HDP). This method allows an agent to learn independent topics for each category…

We revisit human motion synthesis, a task useful in various real world applications, in this paper. Whereas a number of methods have been developed previously for this task, they are often limited in two aspects: focusing on the poses while…

Autonomous robots are increasingly playing key roles as support platforms for human operators in high-risk, dangerous applications. To accomplish challenging tasks, an efficient human-robot cooperation and understanding is required. While…