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

Understanding how people interact with their surroundings and each other is essential for enabling robots to act in socially compliant and context-aware ways. While 3D Scene Graphs have emerged as a powerful semantic representation for…

Generating high-fidelity full-body human interactions with dynamic objects and static scenes remains a critical challenge in computer graphics and animation. Existing methods for human-object interaction often neglect scene context, leading…

Open-vocabulary 3D scene understanding presents a significant challenge in the field. Recent works have sought to transfer knowledge embedded in vision-language models from 2D to 3D domains. However, these approaches often require prior…

Zero-Shot Object Navigation in unknown environments poses significant challenges for Unmanned Aerial Vehicles (UAVs) due to the conflict between high-level semantic reasoning requirements and limited onboard computational resources. To…

As the most fundamental scene understanding tasks, object detection and segmentation have made tremendous progress in deep learning era. Due to the expensive manual labeling cost, the annotated categories in existing datasets are often…

Three-dimensional scene generation holds significant potential in gaming, film, and virtual reality. However, most existing methods adopt a single-step generation process, making it difficult to balance scene complexity with minimal user…

We present Visual-Language Fields (VL-Fields), a neural implicit spatial representation that enables open-vocabulary semantic queries. Our model encodes and fuses the geometry of a scene with vision-language trained latent features by…

Internet image collections containing photos captured by crowds of photographers show promise for enabling digital exploration of large-scale tourist landmarks. However, prior works focus primarily on geometric reconstruction and…

Autonomous navigation in complex, unstructured outdoor environments requires robots to operate over long ranges without prior maps and limited depth sensing. In such settings, relying solely on geometric frontiers for exploration is often…

Goal-conditioned policies for robotic navigation can be trained on large, unannotated datasets, providing for good generalization to real-world settings. However, particularly in vision-based settings where specifying goals requires an…

Video grounding aims to localize a spatio-temporal section in a video corresponding to an input text query. This paper addresses a critical limitation in current video grounding methodologies by introducing an Open-Vocabulary…

We develop a language-guided navigation task set in a continuous 3D environment where agents must execute low-level actions to follow natural language navigation directions. By being situated in continuous environments, this setting lifts a…

Vision-language navigation (VLN) requires an agent to traverse complex 3D environments based on natural language instructions, necessitating a thorough scene understanding. While existing works equip agents with various scene…

Large language models (LLMs) have demonstrated impressive results in developing generalist planning agents for diverse tasks. However, grounding these plans in expansive, multi-floor, and multi-room environments presents a significant…

We present the first approach to build hierarchical task-driven 3D scene graphs of arbitrary indoor or outdoor environments using an uncalibrated monocular camera in real-time. We leverage geometric foundation models to estimate geometric…

Enriching the robot representation of the operational environment is a challenging task that aims at bridging the gap between low-level sensor readings and high-level semantic understanding. Having a rich representation often requires…

Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…

Visual navigation has emerged as a practical alternative to traditional robotic navigation pipelines that rely on detailed mapping and path planning. However, constructing and maintaining 3D maps is often computationally expensive and…

3D open-vocabulary scene understanding aims to recognize arbitrary novel categories beyond the base label space. However, existing works not only fail to fully utilize all the available modal information in the 3D domain but also lack…

Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarchy of semantic entities and their relationships, and can be…