相关论文: Mapping the Unseen: Unified Promptable Panoptic Ma…

Real-time open-vocabulary scene understanding is essential for efficient 3D perception in applications such as vision-language navigation, embodied intelligence, and augmented reality. However, existing methods suffer from imprecise…

Vision Foundation Models (VFMs) have become a de facto choice for many downstream vision tasks, like image classification, image segmentation, and object localization. However, they can also provide significant utility for downstream 3D…

In this paper, we introduce an open-vocabulary panoptic segmentation model that effectively unifies the strengths of the Segment Anything Model (SAM) with the vision-language CLIP model in an end-to-end framework. While SAM excels in…

Diffusion probabilistic models (DPMs) have achieved remarkable quality in image generation that rivals GANs'. But unlike GANs, DPMs use a set of latent variables that lack semantic meaning and cannot serve as a useful representation for…

The human language is one of the most natural interfaces for humans to interact with robots. This paper presents a robot system that retrieves everyday objects with unconstrained natural language descriptions. A core issue for the system is…

In this paper, we propose a unified panoptic segmentation network (UPSNet) for tackling the newly proposed panoptic segmentation task. On top of a single backbone residual network, we first design a deformable convolution based semantic…

Effective robotic autonomy in unknown environments demands proactive exploration and precise understanding of both geometry and semantics. In this paper, we propose ActiveSGM, an active semantic mapping framework designed to predict the…

Building 3D maps of the environment is central to robot navigation, planning, and interaction with objects in a scene. Most existing approaches that integrate semantic concepts with 3D maps largely remain confined to the closed-set setting:…

Our goal is to forecast the near future given a set of recent observations. We think this ability to forecast, i.e., to anticipate, is integral for the success of autonomous agents which need not only passively analyze an observation but…

A navigable agent needs to understand both high-level semantic instructions and precise spatial perceptions. Building navigation agents centered on Multimodal Large Language Models (MLLMs) demonstrates a promising solution due to their…

Autonomous robots can benefit greatly from human-provided semantic characterizations of uncertain task environments and states. However, the development of integrated strategies which let robots model, communicate, and act on such 'soft…

The landscape of publicly available vision foundation models (VFMs), such as CLIP and Segment Anything Model (SAM), is expanding rapidly. VFMs are endowed with distinct capabilities stemming from their pre-training objectives. For instance,…

Robotic tasks such as planning and navigation require a hierarchical semantic understanding of a scene, which could include multiple floors and rooms. Current methods primarily focus on object segmentation for 3D scene understanding.…

Language-aligned vision foundation models perform strongly across diverse downstream tasks. Yet, their learned representations remain opaque, making interpreting their decision-making difficult. Recent work decompose these representations…

Medical vision-language pre-training (Med-VLP) models have recently accelerated the fast-growing medical diagnostics application. However, most Med-VLP models learn task-specific representations independently from scratch, thereby leading…

Object Navigation (ObjectNav) has made great progress with large language models (LLMs), but still faces challenges in memory management, especially in long-horizon tasks and dynamic scenes. To address this, we propose TopoNav, a new…

Applying AI foundation models directly to geospatial datasets remains challenging due to their limited ability to represent and reason with geographical entities, specifically vector-based geometries and natural language descriptions of…

Diffusion-based policies have shown remarkable capability in executing complex robotic manipulation tasks but lack explicit characterization of geometry and semantics, which often limits their ability to generalize to unseen objects and…

In monocular videos that capture dynamic scenes, estimating the 3D geometry of video contents has been a fundamental challenge in computer vision. Specifically, the task is significantly challenged by the object motion, where existing…

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…