相关论文: Indoor and Outdoor 3D Scene Graph Generation via L…

Current approaches for 3D scene graph prediction rely on labeled datasets to train models for a fixed set of known object classes and relationship categories. We present Open3DSG, an alternative approach to learn 3D scene graph prediction…

Large-scale scene data is essential for training and testing in robot learning. Neural reconstruction methods have promised the capability of reconstructing large physically-grounded outdoor scenes from captured sensor data. However, these…

Generating high-fidelity 3D indoor scenes remains a significant challenge due to data scarcity and the complexity of modeling intricate spatial relations. Current methods often struggle to scale beyond training distribution to dense scenes…

The concept of 3D scene graphs is increasingly recognized as a powerful semantic and hierarchical representation of the environment. Current approaches often address this at a coarse, object-level resolution. In contrast, our goal is to…

The completion, extension, and generation of 3D semantic scenes are an interrelated set of capabilities that are useful for robotic navigation and exploration. Existing approaches seek to decouple these problems and solve them one-off.…

Scene graph generation has received growing attention with the advancements in image understanding tasks such as object detection, attributes and relationship prediction,~\etc. However, existing datasets are biased in terms of object and…

3D vision-language (VL) reasoning has gained significant attention due to its potential to bridge the 3D physical world with natural language descriptions. Existing approaches typically follow task-specific, highly specialized paradigms.…

In this study, we present IL3D, a large-scale dataset meticulously designed for large language model (LLM)-driven 3D scene generation, addressing the pressing demand for diverse, high-quality training data in indoor layout design.…

Spatial relationships between objects provide important information for text-based image retrieval. As users are more likely to describe a scene from a real world perspective, using 3D spatial relationships rather than 2D relationships that…

Large Language Models (LLMs) and Vision-Language Models (VLMs) increasingly generate indoor scenes through intermediate structures such as layouts and scene graphs, yet evaluation still relies on LLM or VLM judges that score rendered views,…

Driven by successes in deep learning, computer vision research has begun to move beyond object detection and image classification to more sophisticated tasks like image captioning or visual question answering. Motivating such endeavors is…

Autonomous language-guided navigation in large-scale outdoor environments remains a key challenge in mobile robotics, due to difficulties in semantic reasoning, dynamic conditions, and long-term stability. We propose CausalNav, the first…

This paper is concerned with the problem of how to better exploit 3D geometric information for dense semantic image labeling. Existing methods often treat the available 3D geometry information (e.g., 3D depth-map) simply as an additional…

Comprehending natural language instructions is a charming property for 3D indoor scene synthesis systems. Existing methods directly model object joint distributions and express object relations implicitly within a scene, thereby hindering…

Realistic 3D indoor scene synthesis is vital for embodied AI and digital content creation. It can be naturally divided into two subtasks: object generation and layout generation. While recent generative models have significantly advanced…

Despite the superior performance of large language models to generate natural language texts, it is hard to generate texts with correct logic according to a given task, due to the difficulties for neural models to capture implied rules from…

With the recent rise of Large Language Models (LLMs), Vision-Language Models (VLMs), and other general foundation models, there is growing potential for multimodal, multi-task embodied agents that can operate in diverse environments given…

We develop an approach for active semantic perception which refers to using the semantics of the scene for tasks such as exploration. We build a compact, hierarchical multi-layer scene graph that can represent large, complex indoor…

Understanding scene contexts is crucial for machines to perform tasks and adapt prior knowledge in unseen or noisy 3D environments. As data-driven learning is intractable to comprehensively encapsulate diverse ranges of layouts and open…

3D scene generation conditioned on text prompts has significantly progressed due to the development of 2D diffusion generation models. However, the textual description of 3D scenes is inherently inaccurate and lacks fine-grained control…