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

Visual target navigation is a critical capability for autonomous robots operating in unknown environments, particularly in human-robot interaction scenarios. While classical and learning-based methods have shown promise, most existing…

Integrating open-vocabulary semantic information into dynamic 3D scene representations is essential for long-term embodied scene understanding. However, existing methods often suffer from fragile instance association due to incomplete…

This paper proposes an approach to build 3D scene graphs in arbitrary indoor and outdoor environments. Such extension is challenging; the hierarchy of concepts that describe an outdoor environment is more complex than for indoors, and…

Achieving unified 3D perception and reasoning across tasks such as segmentation, retrieval, and relation understanding remains challenging, as existing methods are either object-centric or rely on costly training for inter-object reasoning.…

In robot navigation, generalizing quickly to unseen environments is essential. Hierarchical methods inspired by human navigation have been proposed, typically consisting of a high-level landmark proposer and a low-level controller. However,…

Precise 3D environmental mapping is pivotal in robotics. Existing methods often rely on predefined concepts during training or are time-intensive when generating semantic maps. This paper presents Open-Fusion, a groundbreaking approach for…

3D reconstruction has been widely used in autonomous navigation fields of mobile robotics. However, the former research can only provide the basic geometry structure without the capability of open-world scene understanding, limiting…

Mobile robots require comprehensive scene understanding to operate effectively in diverse environments, enriched with contextual information such as layouts, objects, and their relationships. Although advances like neural radiation fields…

Camera-based 3D Semantic Occupancy Prediction (SOP) is crucial for understanding complex 3D scenes from limited 2D image observations. Existing SOP methods typically aggregate contextual features to assist the occupancy representation…

Building semantic 3D maps is valuable for searching for objects of interest in offices, warehouses, stores, and homes. We present a mapping system that incrementally builds a Language-Embedded Gaussian Splat (LEGS): a detailed 3D scene…

3D visual grounding (3DVG) identifies objects in 3D scenes from language descriptions. Existing zero-shot approaches leverage 2D vision-language models (VLMs) by converting 3D spatial information (SI) into forms amenable to VLM processing,…

We present OvSGTR, a novel transformer-based framework for fully open-vocabulary scene graph generation that overcomes the limitations of traditional closed-set models. Conventional methods restrict both object and relationship recognition…

Scene Graph Generation (SGG) offers a structured representation critical in many computer vision applications. Traditional SGG approaches, however, are limited by a closed-set assumption, restricting their ability to recognize only…

Modern 3D object detection datasets are constrained by narrow class taxonomies and costly manual annotations, limiting their ability to scale to open-world settings. In contrast, 2D vision-language models trained on web-scale image-text…

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…

Robots interacting with humans through natural language can unlock numerous applications such as Referring Grasp Synthesis (RGS). Given a text query, RGS determines a stable grasp pose to manipulate the referred object in the robot's…

Embodied navigation is a fundamental capability for robotic agents operating. Real-world deployment requires open vocabulary generalization and low training overhead, motivating zero-shot methods rather than task-specific RL training.…

Open-vocabulary scene understanding using 3D Gaussian (3DGS) representations has garnered considerable attention. However, existing methods mostly lift knowledge from large 2D vision models into 3DGS on a scene-by-scene basis, restricting…

Recent advancements in 3D scene understanding have made significant strides in enabling interaction with scenes using open-vocabulary queries, particularly for VR/AR and robotic applications. Nevertheless, existing methods are hindered by…

Language-specified mobile manipulation tasks in novel environments simultaneously face challenges interacting with a scene which is only partially observed, grounding semantic information from language instructions to the partially observed…