相关论文: TO-Scene: A Large-scale Dataset for Understanding …

Occupancy prediction provides critical geometric and semantic understanding for robotics but faces efficiency-accuracy trade-offs. Current dense methods suffer computational waste on empty voxels, while sparse query-based approaches lack…

We propose Text2Scene, a method to automatically create realistic textures for virtual scenes composed of multiple objects. Guided by a reference image and text descriptions, our pipeline adds detailed texture on labeled 3D geometries in…

3D point cloud understanding has made great progress in recent years. However, one major bottleneck is the scarcity of annotated real datasets, especially compared to 2D object detection tasks, since a large amount of labor is involved in…

We propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are…

The ability for computational agents to reason about the high-level content of real world scene images is important for many applications. Existing attempts at addressing the problem of complex scene understanding lack representational…

Current 3D self-supervised learning methods of 3D scenes face a data desert issue, resulting from the time-consuming and expensive collecting process of 3D scene data. Conversely, 3D shape datasets are easier to collect. Despite this,…

Human-interactive robotic systems, particularly autonomous vehicles (AVs), must effectively integrate human instructions into their motion planning. This paper introduces doScenes, a novel dataset designed to facilitate research on…

While deep neural networks have led to human-level performance on computer vision tasks, they have yet to demonstrate similar gains for holistic scene understanding. In particular, 3D context has been shown to be an extremely important cue…

We address the important problem of generalizing robotic rearrangement to clutter without any explicit object models. We first generate over 650K cluttered scenes - orders of magnitude more than prior work - in diverse everyday…

The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is often infeasible in the real world, as deploying robots in…

Generative models have shown substantial impact across multiple domains, their potential for scene synthesis remains underexplored in robotics. This gap is more evident in drone simulators, where simulation environments still rely heavily…

Large-scale driving datasets such as Waymo Open Dataset and nuScenes substantially accelerate autonomous driving research, especially for perception tasks such as 3D detection and trajectory forecasting. Since the driving logs in these…

We address the task of converting a floorplan and a set of associated photos of a residence into a textured 3D mesh model, a task which we call Plan2Scene. Our system 1) lifts a floorplan image to a 3D mesh model; 2) synthesizes surface…

Embodied AI (EAI) research requires high-quality, diverse 3D scenes to effectively support skill acquisition, sim-to-real transfer, and generalization. Achieving these quality standards, however, necessitates the precise replication of…

Generating 3D scenes from natural language holds great promise for applications in gaming, film, and design. However, existing methods struggle with automation, 3D consistency, and fine-grained control. We present DreamScene, an end-to-end…

Promising performance has been achieved for visual perception on the point cloud. However, the current methods typically rely on labour-extensive annotations on the scene scans. In this paper, we explore how synthetic models alleviate the…

Designing 3D scenes is traditionally a challenging task that demands both artistic expertise and proficiency with complex software. Recent advances in text-to-3D generation have greatly simplified this process by letting users create scenes…

3D understanding is a key capability for real-world AI assistance. High-quality data plays an important role in driving the development of the 3D understanding community. Current 3D scene understanding datasets often provide geometric and…

Scene flow is a challenging task aimed at jointly estimating the 3D structure and motion of the sensed environment. Although deep learning solutions achieve outstanding performance in terms of accuracy, these approaches divide the whole…

With the growing adoption of vision-language-action models and world models in autonomous driving systems, scalable image tokenization becomes crucial as the interface for the visual modality. However, most existing tokenizers are designed…