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

Semantic querying in complex 3D scenes through free-form language presents a significant challenge. Existing 3D scene understanding methods use large-scale training data and CLIP to align text queries with 3D semantic features. However,…

Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…

Procedural generation techniques in 3D rendering engines have revolutionized the creation of complex environments, reducing reliance on manual design. Recent approaches using Large Language Models (LLMs) for 3D scene generation show promise…

In the pursuit of efficient automated content creation, procedural generation, leveraging modifiable parameters and rule-based systems, emerges as a promising approach. Nonetheless, it could be a demanding endeavor, given its intricate…

3D indoor scene generation conditioned on short textual descriptions provides a promising avenue for interactive 3D environment construction without the need for labor-intensive layout specification. Despite recent progress in…

The introduction of automated vehicles without permanent human supervision demands a functional system description, including functional system boundaries and a comprehensive safety analysis. These inputs to the technical development can be…

Identifying objects in an image and their mutual relationships as a scene graph leads to a deep understanding of image content. Despite the recent advancement in deep learning, the detection and labeling of visual object relationships…

Realistic 3D indoor scene generation is crucial for virtual reality, interior design, embodied intelligence, and scene understanding. While existing methods have made progress in coarse-scale furniture arrangement, they struggle to capture…

Training scene graph classification models requires a large amount of annotated image data. Meanwhile, scene graphs represent relational knowledge that can be modeled with symbolic data from texts or knowledge graphs. While image annotation…

Designing 3D indoor layouts is a crucial task with significant applications in virtual reality, interior design, and automated space planning. Existing methods for 3D layout design either rely on diffusion models, which utilize spatial…

Indoor scene understanding remains a fundamental challenge in robotics, with direct implications for downstream tasks such as navigation and manipulation. Traditional approaches often rely on closed-set recognition or loop closure, limiting…

3D semantic scene graphs (3DSSG) provide compact structured representations of environments by explicitly modeling objects, attributes, and relationships. While 3DSSGs have shown promise in robotics and embodied AI, many existing methods…

The heterogeneity of data poses a great challenge when data from different sources is to be merged for one application. Solutions for this are offered, for example, by ontology-based data management (OBDM). A challenge of OBDM is the…

Robots are increasingly being used in dynamic environments like workplaces, hospitals, and homes. As a result, interactions with robots must be simple and intuitive, with robots perception adapting efficiently to human-induced changes. This…

Existing 3D scene generation methods often struggle to model the complex logical dependencies and physical constraints between objects, limiting their ability to adapt to dynamic and realistic environments. We propose CausalStruct, a novel…

Despite recent advances in multimodal content generation enabled by vision-language models (VLMs), their ability to reason about and generate structured 3D scenes remains largely underexplored. This limitation constrains their utility in…

Knowledge graphs can represent information about the real-world using entities and their relations in a structured and semantically rich manner and they enable a variety of downstream applications such as question-answering, recommendation…

Accurate prediction of human behavior is crucial for AI systems to effectively support real-world applications, such as autonomous robots anticipating and assisting with human tasks. Real-world scenarios frequently present challenges such…

The connection between our 3D surroundings and the descriptive language that characterizes them would be well-suited for localizing and generating human motion in context but for one problem. The complexity introduced by multiple modalities…

Automatically generating interactive 3D indoor scenes from natural language is crucial for virtual reality, gaming, and embodied AI. However, existing LLM-based approaches often suffer from spatial errors and collisions, in part because…