相关论文: Semantic Abstraction: Open-World 3D Scene Understa…

New era has unlocked exciting possibilities for extending Large Language Models (LLMs) to tackle 3D vision-language tasks. However, most existing 3D multimodal LLMs (MLLMs) rely on compressing holistic 3D scene information or segmenting…

This paper provides a review of deep learning applications in scene understanding in autonomous robots, including innovations in object detection, semantic and instance segmentation, depth estimation, 3D reconstruction, and visual SLAM. It…

To bridge the gap between supervised semantic segmentation and real-world applications that acquires one model to recognize arbitrary new concepts, recent zero-shot segmentation attracts a lot of attention by exploring the relationships…

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)…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

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.…

Although point-based networks are demonstrated to be accurate for 3D point cloud modeling, they are still falling behind their voxel-based competitors in 3D detection. We observe that the prevailing set abstraction design for down-sampling…

Open-world instance-level scene understanding aims to locate and recognize unseen object categories that are not present in the annotated dataset. This task is challenging because the model needs to both localize novel 3D objects and infer…

Modeling and understanding the 3D world is crucial for various applications, from augmented reality to robotic navigation. Recent advancements based on 3D Gaussian Splatting have integrated semantic information from multi-view images into…

Semantic understanding of scenes in three-dimensional space (3D) is a quintessential part of robotics oriented applications such as autonomous driving as it provides geometric cues such as size, orientation and true distance of separation…

The availability of real-time semantics greatly improves the core geometric functionality of SLAM systems, enabling numerous robotic and AR/VR applications. We present a new methodology for real-time semantic mapping from RGB-D sequences…

3D part segmentation is a crucial and challenging task in 3D perception, playing a vital role in applications such as robotics, 3D generation, and 3D editing. Recent methods harness the powerful Vision Language Models (VLMs) for 2D-to-3D…

Reasoning segmentation aims to segment target objects in complex scenes based on human intent and spatial reasoning. While recent multimodal large language models (MLLMs) have demonstrated impressive 2D image reasoning segmentation,…

Recent advances in 3D semantic scene understanding have shown impressive progress in 3D instance segmentation, enabling object-level reasoning about 3D scenes; however, a finer-grained understanding is required to enable interactions with…

For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and planning. Recent approaches have attempted to leverage features…

Open-world interactive object search in household environments requires understanding semantic relationships between objects and their surrounding context to guide exploration efficiently. Prior methods either rely on vision-language…

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…

This paper presents a novel 3D semantic segmentation method for large-scale point cloud data that does not require annotated 3D training data or paired RGB images. The proposed approach projects 3D point clouds onto 2D images using virtual…

Enabling agents to understand and interact with complex 3D scenes is a fundamental challenge for embodied artificial intelligence systems. While Multimodal Large Language Models (MLLMs) have achieved significant progress in 2D image…

Learning abstractions directly from data is a core challenge in robotics. Humans naturally operate at an abstract level, reasoning over high-level subgoals while delegating execution to low-level motor skills -- an ability that enables…