相关论文: Continuous Scene Representations for Embodied AI

Recently, continuous representation methods emerge as novel paradigms that characterize the intrinsic structures of real-world data through function representations that map positional coordinates to their corresponding values in the…

Creating realistic virtual assets is a time-consuming process: it usually involves an artist designing the object, then spending a lot of effort on tweaking its appearance. Intricate details and certain effects, such as subsurface…

A long-standing goal in scene understanding is to obtain interpretable and editable representations that can be directly constructed from a raw monocular RGB-D video, without requiring specialized hardware setup or priors. The problem is…

Embodied AI models often employ off the shelf vision backbones like CLIP to encode their visual observations. Although such general purpose representations encode rich syntactic and semantic information about the scene, much of this…

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…

Agents that are aware of the separation between themselves and their environments can leverage this understanding to form effective representations of visual input. We propose an approach for learning such structured representations for RL…

We propose a novel scene representation that encodes reaching distance -- the distance between any position in the scene to a goal along a feasible trajectory. We demonstrate that this environment field representation can directly guide the…

This paper investigates the problem of understanding dynamic 3D scenes from egocentric observations, a key challenge in robotics and embodied AI. Unlike prior studies that explored this as long-form video understanding and utilized…

Compressive sensing (CS) is a new approach for the acquisition and recovery of sparse signals and images that enables sampling rates significantly below the classical Nyquist rate. Despite significant progress in the theory and methods of…

Synthesizing photo-realistic images and videos is at the heart of computer graphics and has been the focus of decades of research. Traditionally, synthetic images of a scene are generated using rendering algorithms such as rasterization or…

Visual object navigation using learning methods is one of the key tasks in mobile robotics. This paper introduces a new representation of a scene semantic map formed during the embodied agent interaction with the indoor environment. It is…

Compressed sensing (CS) is an innovative technique allowing to represent signals through a small number of their linear projections. In this paper we address the application of CS to the scenario of progressive acquisition of 2D visual…

Despite the remarkable success of convolutional neural networks in various computer vision tasks, recognizing indoor scenes still presents a significant challenge due to their complex composition. Consequently, effectively leveraging…

3D semantic scene graphs are a powerful holistic representation as they describe the individual objects and depict the relation between them. They are compact high-level graphs that enable many tasks requiring scene reasoning. In real-world…

The ability to decompose complex multi-object scenes into meaningful abstractions like objects is fundamental to achieve higher-level cognition. Previous approaches for unsupervised object-oriented scene representation learning are either…

A classical problem in computer vision is to infer a 3D scene representation from few images that can be used to render novel views at interactive rates. Previous work focuses on reconstructing pre-defined 3D representations, e.g. textured…

When humans and robotic agents coexist in an environment, scene understanding becomes crucial for the agents to carry out various downstream tasks like navigation and planning. Hence, an agent must be capable of localizing and identifying…

General intelligence requires quick adaption across tasks. While existing reinforcement learning (RL) methods have made progress in generalization, they typically assume only distribution changes between source and target domains. In this…

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…

A proper scene representation is central to the pursuit of spatial intelligence where agents can robustly reconstruct and efficiently understand 3D scenes. A scene representation is either metric, such as landmark maps in 3D reconstruction,…