Related papers: HERO: Hierarchical Traversable 3D Scene Graphs for…
Generating high-fidelity full-body human interactions with dynamic objects and static scenes remains a critical challenge in computer graphics and animation. Existing methods for human-object interaction often neglect scene context, leading…
Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular, it is crucial to plan a path to avoid risky terrain and…
Understanding 3D scenes requires flexible combinations of visual reasoning tasks, including depth estimation, novel view synthesis, and object manipulation, all of which are essential for perception and interaction. Existing approaches have…
3DGS is an emerging and increasingly popular technology in the field of novel view synthesis. Its highly realistic rendering quality and real-time rendering capabilities make it promising for various applications. However, when applied to…
Intelligent agents gather information and perceive semantics within the environments before taking on given tasks. The agents store the collected information in the form of environment models that compactly represent the surrounding…
Autonomous driving scenes range from empty highways to dense intersections with dozens of interacting road users, yet current 3D detection models apply a fixed computation budget to every frame, wasting resources on simple scenes while…
Recent advances in computer vision facilitate fully automatic extraction of object-centric relational representations from visual-inertial data. These state representations, dubbed 3D scene graphs, are a hierarchical decomposition of…
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…
Generation-driven world models create immersive virtual environments but suffer slow inference due to the iterative nature of diffusion models. While recent advances have improved diffusion model efficiency, directly applying these…
Modeling the inherent hierarchical structure of 3D objects and 3D scenes is highly desirable, as it enables a more holistic understanding of environments for autonomous agents. Accomplishing this with implicit representations, such as…
Autonomous operation of service robotics in human-centric scenes remains challenging due to the need for understanding of changing environments and context-aware decision-making. While existing approaches like topological maps offer…
For a multi-robot team that collaboratively explores an unknown environment, it is of vital importance that collected information is efficiently shared among robots in order to support exploration and navigation tasks. Practical constraints…
Driven by recent advancements in foundation models, semantic scene graphs have emerged as a promising paradigm for high-level 3D environmental abstraction in robot navigation. However, existing frameworks struggle to successfully handle…
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a…
A Scene, represented visually using different formats such as RGB-D, LiDAR scan, keypoints, rectangular, spherical, multi-views, etc., contains information implicitly embedded relevant to applications such as scene indexing, vision-based…
Visual interactivity understanding within visual scenes presents a significant challenge in computer vision. Existing methods focus on complex interactivities while leveraging a simple relationship model. These methods, however, struggle…
3D Gaussian Splatting (3DGS) has recently emerged as a promising approach in novel view synthesis, combining photorealistic rendering with real-time efficiency. However, its success heavily relies on dense camera coverage; under sparse-view…
Realistic 3D indoor scene generation is crucial for virtual reality, interior design, embodied intelligence, and scene understanding. While existing methods have made progress in coarse-scale furniture arrangement, they struggle to capture…
Generating high-quality novel view renderings of 3D Gaussian Splatting (3DGS) in scenes featuring transient objects is challenging. We propose a novel hybrid representation, termed as HybridGS, using 2D Gaussians for transient objects per…
Building a general-purpose intelligent home-assistant agent skilled in diverse tasks by human commands is a long-term blueprint of embodied AI research, which poses requirements on task planning, environment modeling, and object…