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Utilizing functional elements in an industrial environment, such as displays and interactive valves, provide effective possibilities for robot training. When preparing simulations for robots or applications that involve high-level scene…
This thesis introduces "Embodied Spatial Intelligence" to address the challenge of creating robots that can perceive and act in the real world based on natural language instructions. To bridge the gap between Large Language Models (LLMs)…
Existing 3D scene generation methods often struggle to model the complex logical dependencies and physical constraints between objects, limiting their ability to adapt to dynamic and realistic environments. We propose CausalStruct, a novel…
Recent advances in metric, semantic, and topological mapping have equipped autonomous robots with semantic concept grounding capabilities to interpret natural language tasks. This work aims to leverage these new capabilities with an…
Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…
Real-world data collection for embodied agents remains costly and unsafe, calling for scalable, realistic, and simulator-ready 3D environments. However, existing scene-generation systems often rely on rule-based or task-specific pipelines,…
Large language models (LLMs) have achieved remarkable success in text-based tasks but often struggle to provide actionable guidance in real-world physical environments. This is because of their inability to recognize their limited…
Data center (DC) infrastructure serves as the backbone to support the escalating demand for computing capacity. Traditional design methodologies that blend human expertise with specialized simulation tools scale poorly with the increasing…
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…
Simulation-based testing has become a standard approach to validating autonomous driving agents prior to real-world deployment. A high-quality validation campaign will exercise an agent in diverse contexts comprised of varying static…
We present a system for generating indoor scenes in response to text prompts. The prompts are not limited to a fixed vocabulary of scene descriptions, and the objects in generated scenes are not restricted to a fixed set of object…
Recent advances in vision language models (VLMs) have shown strong potential for spatial reasoning and 3D scene layout generation from open-ended language instructions. However, generating layouts that are not only semantically coherent but…
This paper introduces Scene-LLM, a 3D-visual-language model that enhances embodied agents' abilities in interactive 3D indoor environments by integrating the reasoning strengths of Large Language Models (LLMs). Scene-LLM adopts a hybrid 3D…
Procedural generation techniques in 3D rendering engines have revolutionized the creation of complex environments, reducing reliance on manual design. Recent approaches using Large Language Models (LLMs) for 3D scene generation show promise…
Transforming unstructured text into structured data is a complex task, requiring semantic understanding, reasoning, and structural comprehension. While Large Language Models (LLMs) offer potential, they often struggle with handling…
Our project page: https://scutyklin.github.io/SceneLCM/. Automated generation of complex, interactive indoor scenes tailored to user prompt remains a formidable challenge. While existing methods achieve indoor scene synthesis, they struggle…
Video Large Language Models (Video-LLMs) have recently shown strong performance in basic video understanding tasks, such as captioning and coarse-grained question answering, but struggle with compositional reasoning that requires multi-step…
The ability to transform a flat sheet into a complex three-dimensional structure is a fundamental test of physical intelligence. Unlike cloth manipulation, origami is governed by strict geometric axioms and hard kinematic constraints, where…
We present SemLayoutDiff, a unified model for synthesizing diverse 3D indoor scenes across multiple room types. The model introduces a scene layout representation combining a top-down semantic map and attributes for each object. Unlike…
Creating scenes for captured motions that achieve realistic human-scene interaction is crucial for 3D animation in movies or video games. As character motion is often captured in a blue-screened studio without real furniture or objects in…