相关论文: Learning Interpretable Spatial Operations in a Ric…

We propose an unsupervised method for parsing large 3D scans of real-world scenes with easily-interpretable shapes. This work aims to provide a practical tool for analyzing 3D scenes in the context of aerial surveying and mapping, without…

In order for robots to operate effectively in homes and workplaces, they must be able to manipulate the articulated objects common within environments built for and by humans. Previous work learns kinematic models that prescribe this…

We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…

Recently, there has been growing interest in developing learning-based methods to detect and utilize salient semi-global or global structures, such as junctions, lines, planes, cuboids, smooth surfaces, and all types of symmetries, for 3D…

We describe an approach to predict open-vocabulary 3D semantic voxel occupancy map from input 2D images with the objective of enabling 3D grounding, segmentation and retrieval of free-form language queries. This is a challenging problem…

We propose a lightweight and scalable Regional Point-Language Contrastive learning framework, namely \textbf{RegionPLC}, for open-world 3D scene understanding, aiming to identify and recognize open-set objects and categories. Specifically,…

Reinforcement learning has been successful in many tasks ranging from robotic control, games, energy management etc. In complex real world environments with sparse rewards and long task horizons, sample efficiency is still a major…

Rapid advancements in 3D vision-language (3D-VL) tasks have opened up new avenues for human interaction with embodied agents or robots using natural language. Despite this progress, we find a notable limitation: existing 3D-VL models…

We model the process of human full interpretation of object images, namely the ability to identify and localize all semantic features and parts that are recognized by human observers. The task is approached by dividing the interpretation of…

We propose and demonstrate the task of giving natural language summaries of the actions of a robotic agent in a virtual environment. We explain why such a task is important, what makes it difficult, and discuss how it might be addressed. To…

A typical way in which a machine acquires knowledge from humans is by programming. Compared to learning from demonstrations or experiences, programmatic learning allows the machine to acquire a novel skill as soon as the program is written,…

Precise spatial modeling in the operating room (OR) is foundational to many clinical tasks, supporting intraoperative awareness, hazard avoidance, and surgical decision-making. While existing approaches leverage large-scale multimodal…

To solve multi-step manipulation tasks in the real world, an autonomous robot must take actions to observe its environment and react to unexpected observations. This may require opening a drawer to observe its contents or moving an object…

Over the last few years, there has been growing interest in learning models for physically grounded language understanding tasks, such as the popular blocks world domain. These works typically view this problem as a single-step process, in…

Robotic tasks such as planning and navigation require a hierarchical semantic understanding of a scene, which could include multiple floors and rooms. Current methods primarily focus on object segmentation for 3D scene understanding.…

It is well known that perspective alignment plays a major role in the planning and interpretation of spatial language. In order to understand the role of perspective alignment and the cognitive processes involved, we have made precise…

Learning-based 3D reconstruction using implicit neural representations has shown promising progress not only at the object level but also in more complicated scenes. In this paper, we propose Dynamic Plane Convolutional Occupancy Networks,…

While Large Vision Language Models (LVLMs) are increasingly deployed in real-world applications, their ability to interpret abstract visual inputs remains limited. Specifically, they struggle to comprehend hand-drawn sketches, a modality…

Building embodied AI systems that can follow arbitrary language instructions in any 3D environment is a key challenge for creating general AI. Accomplishing this goal requires learning to ground language in perception and embodied actions,…

Recent advances in 3D scene-language understanding have leveraged Large Language Models (LLMs) for 3D reasoning by transferring their general reasoning ability to 3D multi-modal contexts. However, existing methods typically adopt standard…