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Open-vocabulary 3D scene graph generation seeks to describe object instances and their relations with flexible natural-language predicates. The central difficulty is not only vocabulary expansion, but supervision reliability: relation…
Panoptic reconstruction is a challenging task in 3D scene understanding. However, most existing methods heavily rely on pre-trained semantic segmentation models and known 3D object bounding boxes for 3D panoptic segmentation, which is not…
Training-free open-vocabulary semantic segmentation(TF-OVSS) has recently attracted attention for its ability to perform dense prediction by leveraging the pretrained knowledge of large vision and vision-language models, without requiring…
To manipulate objects in novel, unstructured environments, robots need task-oriented grasps that target object parts based on the given task. Geometry-based methods often struggle with visually defined parts, occlusions, and unseen objects.…
Incremental open-vocabulary 3D instance-semantic mapping is essential for autonomous agents operating in complex everyday environments. However, it remains challenging due to the need for robust instance segmentation, real-time processing,…
Environment representations endowed with sophisticated semantics are pivotal for facilitating seamless interaction between robots and humans, enabling them to effectively carry out various tasks. Open-vocabulary maps, powered by…
Despite the widespread adoption of industrial robots in automotive assembly, wire harness installation remains a largely manual process, as it requires precise and flexible manipulation. To address this challenge, we design a novel AI-based…
We introduce OV-MAP, a novel approach to open-world 3D mapping for mobile robots by integrating open-features into 3D maps to enhance object recognition capabilities. A significant challenge arises when overlapping features from adjacent…
This paper investigates the direct application of standardized designs on the robot for conducting robot hand-eye calibration by employing 3D scanners with collaborative robots. The well-established geometric features of the robot flange…
We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a bimanual torso is mounted with a custom-designed drilling end…
Open-vocabulary object detection (OvOD) is set to revolutionize security screening by enabling systems to recognize any item in X-ray scans. However, developing effective OvOD models for X-ray imaging presents unique challenges due to data…
Open-vocabulary 3D scene understanding is crucial for robotics applications, such as natural language-driven manipulation, human-robot interaction, and autonomous navigation. Existing methods for querying 3D Gaussian Splatting often…
Open-vocabulary segmentation is the task of segmenting anything that can be named in an image. Recently, large-scale vision-language modelling has led to significant advances in open-vocabulary segmentation, but at the cost of gargantuan…
The open-vocabulary image segmentation task involves partitioning images into semantically meaningful segments and classifying them with flexible text-defined categories. The recent vision-based foundation models such as the Segment…
Open-vocabulary object detection (OVOD) enables models to recognize objects beyond predefined categories, but existing approaches remain limited in practical deployment. On the one hand, multimodal designs often incur substantial…
Semantic occupancy prediction aims to infer dense geometry and semantics of surroundings for an autonomous agent to operate safely in the 3D environment. Existing occupancy prediction methods are almost entirely trained on human-annotated…
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…
Open-Vocabulary Object Detection (OVD) faces severe performance degradation when applied to UAV imagery due to the domain gap from ground-level datasets. To address this challenge, we propose a complete UAV-oriented solution that combines…
Despite the remarkable success of text-to-image diffusion models, their output of a single, flattened image remains a critical bottleneck for professional applications requiring layer-wise control. Existing solutions either rely on…
We propose a training-free method, Articulate3D, to pose a 3D asset through language control. Despite advances in vision and language models, this task remains surprisingly challenging. To achieve this goal, we decompose the problem into…