相关论文: Hierarchical Open-Vocabulary 3D Scene Graphs for L…

To complete a complex task where a robot navigates to a goal object and fetches it, the robot needs to have a good understanding of the instructions and the surrounding environment. Large pre-trained models have shown capabilities to…

Visual spatial description (VSD) aims to generate texts that describe the spatial relations of the given objects within images. Existing VSD work merely models the 2D geometrical vision features, thus inevitably falling prey to the problem…

3D Gaussian Splatting (3DGS) has become horsepower in high-quality, real-time rendering for novel view synthesis of 3D scenes. However, existing methods focus primarily on geometric and appearance modeling, lacking deeper scene…

Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…

Generating dialogue grounded in videos requires a high level of understanding and reasoning about the visual scenes in the videos. However, existing large visual-language models are not effective due to their latent features and…

Deep Learning has revolutionized our ability to solve complex problems such as Vision-and-Language Navigation (VLN). This task requires the agent to navigate to a goal purely based on visual sensory inputs given natural language…

Open-vocabulary 3D object detection for autonomous driving aims to detect novel objects beyond the predefined training label sets in point cloud scenes. Existing approaches achieve this by connecting traditional 3D object detectors with…

Grounding open-ended semantic instructions into physically executable local goals is a fundamental challenge in human-robot interaction. While existing navigation frameworks often regress deterministic waypoints, this rigid formulation…

Fast, collision-free motion through unknown environments remains a challenging problem for robotic systems. In these situations, the robot's ability to reason about its future motion is often severely limited by sensor field of view (FOV).…

We introduce ShelfGaussian, an open-vocabulary multi-modal Gaussian-based 3D scene understanding framework supervised by off-the-shelf vision foundation models (VFMs). Gaussian-based methods have demonstrated superior performance and…

Most Vision-and-Language Navigation (VLN) algorithms are prone to making inaccurate decisions due to their lack of visual common sense and limited reasoning capabilities. To address this issue, we propose a Hierarchical Spatial Proximity…

Traditional closed-set 3D detection frameworks fail to meet the demands of open-world applications like autonomous driving. Existing open-vocabulary 3D detection methods typically adopt a two-stage pipeline consisting of pseudo-label…

The 3D scene graph models spatial relationships between objects, enabling the agent to efficiently navigate in a partially observable environment and predict the location of the target object.This paper proposes an original framework named…

Constructing a 3D scene capable of accommodating open-ended language queries, is a pivotal pursuit, particularly within the domain of robotics. Such technology facilitates robots in executing object manipulations based on human language…

Abstract semantic 3D scene understanding is a problem of critical importance in robotics. As robots still lack the common-sense knowledge about household objects and locations of an average human, we investigate the use of pre-trained…

Connecting current observations with prior experiences helps robots adapt and plan in new, unseen 3D environments. Recently, 3D scene analogies have been proposed to connect two 3D scenes, which are smooth maps that align scene regions with…

In this paper, we propose a new framework for zero-shot object navigation. Existing zero-shot object navigation methods prompt LLM with the text of spatially closed objects, which lacks enough scene context for in-depth reasoning. To better…

Scene graphs have emerged as a powerful tool for robots, providing a structured representation of spatial and semantic relationships for advanced task planning. Despite their potential, conventional 3D indoor scene graphs face critical…

Open-vocabulary image segmentation aims to partition an image into semantic regions according to arbitrary text descriptions. However, complex visual scenes can be naturally decomposed into simpler parts and abstracted at multiple levels of…

3D open-vocabulary scene understanding, crucial for advancing augmented reality and robotic applications, involves interpreting and locating specific regions within a 3D space as directed by natural language instructions. To this end, we…