相关论文: 3D Environment Modeling for Falsification and Beyo…

Recent perception-generalist approaches based on language models have achieved state-of-the-art results across diverse tasks, including 3D scene layout estimation and 3D object detection, via unified architecture and interface. However,…

A recently introduced text classifier, called SS3, has obtained state-of-the-art performance on the CLEF's eRisk tasks. SS3 was created to deal with risk detection over text streams and, therefore, not only supports incremental training and…

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.…

Open-vocabulary querying in 3D space is challenging but essential for scene understanding tasks such as object localization and segmentation. Language-embedded scene representations have made progress by incorporating language features into…

Cyber-Physical Systems (CPS) operate in dynamic environments, leading to different types of uncertainty. This work provides a comprehensive review of uncertainty representations and categorizes them based on the dimensions used to represent…

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…

Scene change detection (SCD) is crucial for urban monitoring and navigation but remains challenging in real-world environments due to lighting variations, seasonal shifts, viewpoint differences, and complex urban layouts. Existing methods…

Representing token embeddings as probability distributions over learned manifolds allows for more flexible contextual inference, reducing representational rigidity while enhancing semantic granularity. Comparative evaluations demonstrate…

General scene understanding for robotics requires flexible semantic representation, so that novel objects and structures which may not have been known at training time can be identified, segmented and grouped. We present an algorithm which…

Semantic Scene Completion (SSC) has emerged as a pivotal approach for jointly learning scene geometry and semantics, enabling downstream applications such as navigation in mobile robotics. The recent generalization to Panoptic Scene…

We test the hypothesis whether transforming a data matrix into a 3D shaded surface or even a volumetric display can be more appealing to humans than a scatterplot since it makes direct use of the innate 3D scene understanding capabilities…

3D scene understanding has gained significant attention due to its wide range of applications. However, existing methods for 3D scene understanding are limited to specific downstream tasks, which hinders their practicality in real-world…

In order to provide a robot with the ability to understand and react to a user's natural language inputs, the natural language must be connected to the robot's underlying representations of the world. Recently, large language models (LLMs)…

We present a choreographic framework for modelling and analysing concurrent probabilistic systems based on the PRISM model-checker. This is achieved through the development of a choreography language, which is a specification language that…

In this paper, we argue that simulation platforms enable a novel type of embodied spatial reasoning, one facilitated by a formal model of object and event semantics that renders the continuous quantitative search space of an open-world,…

World models that support controllable and editable spatiotemporal environments are valuable for robotics, enabling scalable training data, repro ducible evaluation, and flexible task design. While recent text-to-video models generate…

Robotic control tasks are often first run in simulation for the purposes of verification, debugging and data augmentation. Many methods exist to specify what task a robot must complete, but few exist to specify what range of environments a…

Semantic scene understanding allows a robotic agent to reason about problems in complex ways, using information from multiple and varied sensors to make deductions about a particular matter. As a result, this form of intelligent robotics is…

Diffusion-based policies have shown remarkable capability in executing complex robotic manipulation tasks but lack explicit characterization of geometry and semantics, which often limits their ability to generalize to unseen objects and…

General scene perception has progressed from object recognition toward open-vocabulary grounding, part localization, and affordance prediction. Yet these capabilities are often realized as isolated predictions that localize objects, parts,…