Related papers: INHerit-SG: Incremental Hierarchical Semantic Scen…

Modern 3D semantic scene graph estimation methods utilize ground truth 3D annotations to accurately predict target objects, predicates, and relationships. In the absence of given 3D ground truth representations, we explore leveraging only…

Scene graph representations enable structured visual understanding by modeling objects and their relationships, and have been widely used for multiview and 3D scene reasoning. Existing methods such as MSG learn scene graph embeddings in…

Retrieval-augmented generation (RAG) equips large language models (LLMs) with reliable knowledge memory. To strengthen cross-text associations, recent research integrates graphs and hypergraphs into RAG to capture pairwise and multi-entity…

Retrieval-Augmented Generation (RAG) systems have become pivotal in leveraging vast corpora to generate informed and contextually relevant responses, notably reducing hallucinations in Large Language Models. Despite significant…

Retrieval-Augmented Generation (RAG) has significantly enhanced Large Language Models' ability to access external knowledge, yet current graph-based RAG approaches face two critical limitations in managing hierarchical information: they…

We propose a computational framework to jointly parse a single RGB image and reconstruct a holistic 3D configuration composed by a set of CAD models using a stochastic grammar model. Specifically, we introduce a Holistic Scene Grammar (HSG)…

Scene understanding is paramount in robotics, self-navigation, augmented reality, and many other fields. To fully accomplish this task, an autonomous agent has to infer the 3D structure of the sensed scene (to know where it looks at) and…

Semantic world models enable embodied agents to reason about objects, relations, and spatial context beyond purely geometric representations. In Organic Computing, such models are a key enabler for objective-driven self-adaptation under…

Scene text image contains two levels of contents: visual texture and semantic information. Although the previous scene text recognition methods have made great progress over the past few years, the research on mining semantic information to…

Due to the high inter-class similarity caused by the complex composition and the co-existing objects across scenes, numerous studies have explored object semantic knowledge within scenes to improve scene recognition. However, a resulting…

3D Scene Graphs integrate both metric and semantic information, yet their structure remains underutilized for improving path planning efficiency and interpretability. In this work, we present S-Path, a situationally-aware path planner that…

Outdoor intelligent autonomous robotic operation relies on a sufficiently expressive map of the environment. Classical geometric mapping methods retain essential structural environment information, but lack a semantic understanding and…

3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…

In this paper, we introduce a novel image-goal navigation approach, named RFSG. Our focus lies in leveraging the fine-grained connections between goals, observations, and the environment within limited image data, all the while keeping the…

Retrieval-Augmented Generation (RAG) is gaining recognition as one of the key technological axes for next generation information retrieval, owing to its ability to mitigate the hallucination phenomenon in Large Language Models (LLMs)and…

While Retrieval-Augmented Generation (RAG) augments Large Language Models (LLMs) with external knowledge, conventional single-agent RAG remains fundamentally limited in resolving complex queries demanding coordinated reasoning across…

In recent years, the paradigm of neural implicit representations has gained substantial attention in the field of Simultaneous Localization and Mapping (SLAM). However, a notable gap exists in the existing approaches when it comes to scene…

The latest emerged 4D Panoptic Scene Graph (4D-PSG) provides an advanced-ever representation for comprehensively modeling the dynamic 4D visual real world. Unfortunately, current pioneering 4D-PSG research can primarily suffer from data…

To enable robots to comprehend high-level human instructions and perform complex tasks, a key challenge lies in achieving comprehensive scene understanding: interpreting and interacting with the 3D environment in a meaningful way. This…

Scene graph (SG) representations can neatly and efficiently describe scene semantics, which has driven sustained intensive research in SG generation. In the real world, multiple modalities often coexist, with different types, such as…