相关论文: "Where am I?" Scene Retrieval with Language

Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…

We present a novel human-in-the-loop approach to estimate 3D scene layout that uses human feedback from an egocentric standpoint. We study this approach through introduction of a novel local correction task, where users identify local…

Text-to-3D scene generation from natural language is highly desirable for digital content creation. However, existing methods are largely domain-restricted or reliant on predefined spatial relationships, limiting their capacity for…

People are relying on AI agents to assist them with various tasks. The human must know when to rely on the agent, collaborate with the agent, or ignore its suggestions. In this work, we propose to learn rules, grounded in data regions and…

Locating objects described in natural language presents a significant challenge for autonomous agents. Existing CLIP-based open-vocabulary methods successfully perform 3D object grounding with simple (bare) queries, but cannot cope with…

Recent advances in computer vision facilitate fully automatic extraction of object-centric relational representations from visual-inertial data. These state representations, dubbed 3D scene graphs, are a hierarchical decomposition of…

Text spotting in natural scene images is of great importance for many image understanding tasks. It includes two sub-tasks: text detection and recognition. In this work, we propose a unified network that simultaneously localizes and…

Text-to-3D generative AI systems create navigable environments from natural language prompts, but unlike text-to-image generation, evaluation requires embodied exploration of spatial coherence, scale, and navigability. We present the first…

We describe a novel architecture for semantic image retrieval---in particular, retrieval of instances of visual situations. Visual situations are concepts such as "a boxing match," "walking the dog," "a crowd waiting for a bus," or "a game…

Seamless Human-Robot Interaction is the ultimate goal of developing service robotic systems. For this, the robotic agents have to understand their surroundings to better complete a given task. Semantic scene understanding allows a robotic…

Text-based games are becoming commonly used in reinforcement learning as real-world simulation environments. They are usually imperfect information games, and their interactions are only in the textual modality. To challenge these games, it…

Learning descriptive 3D features is crucial for understanding 3D scenes with diverse objects and complex structures. However, it is usually unknown whether important geometric attributes and scene context obtain enough emphasis in an…

In this paper, we study the problem of parsing structured knowledge graphs from textual descriptions. In particular, we consider the scene graph representation that considers objects together with their attributes and relations: this…

Semantic maps allow a robot to reason about its surroundings to fulfill tasks such as navigating known environments, finding specific objects, and exploring unmapped areas. Traditional mapping approaches provide accurate geometric…

While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Humans have a natural ability to perform semantic associations with the surrounding objects in the environment. This allows them to create a mental map of the environment, allowing them to navigate on-demand when given linguistic…

In-context learning$\unicode{x2013}$the ability to configure a model's behavior with different prompts$\unicode{x2013}$has revolutionized the field of natural language processing, alleviating the need for task-specific models and paving the…

We investigate the incorporation of visual relationships into the task of supervised image caption generation by proposing a model that leverages detected objects and auto-generated visual relationships to describe images in natural…

3D scene understanding is fundamental for embodied AI and robotics, supporting reliable perception for interaction and navigation. Recent approaches achieve zero-shot, open-vocabulary 3D semantic mapping by assigning embedding vectors to 2D…