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

Recent work on unsupervised speech segmentation has used self-supervised models with phone and word segmentation modules that are trained jointly. This paper instead revisits an older approach to word segmentation: bottom-up phone-like unit…

The unification of disparate maps is crucial for enabling scalable robot operation across multiple sessions and collaborative multi-robot scenarios. However, achieving a unified map robust to sensor modalities and dynamic environments…

In this work, we introduce panoramic panoptic segmentation as the most holistic scene understanding both in terms of field of view and image level understanding for standard camera based input. A complete surrounding understanding provides…

Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless navigate that area successfully. In the context of…

It has been demonstrated that the art of prompt tuning is highly effective in efficiently extracting knowledge from pretrained foundation models, encompassing pretrained language models (PLMs), vision pretrained models, and vision-language…

The rapid emergence of foundation models, particularly Large Language Models (LLMs) and Vision-Language Models (VLMs), has introduced a transformative paradigm in robotics. These models offer powerful capabilities in semantic understanding,…

Autonomous robotic exploration of unknown and hazardous environments, a long-standing challenge, can be significantly improved by leveraging the advanced reasoning of Vision-Language Models (VLMs). We introduce a novel exploration pipeline…

Generative vision-language models (VLMs) exhibit strong high-level image understanding but lack spatially dense alignment between vision and language modalities, as our findings indicate. Orthogonal to advancements in generative VLMs,…

General scene understanding for robotics requires flexible semantic representation, so that novel objects and structures which may not have been known at training time can be identified, segmented and grouped. We present an algorithm which…

Dense image correspondence is central to many applications, such as visual odometry, 3D reconstruction, object association, and re-identification. Historically, dense correspondence has been tackled separately for wide-baseline scenarios…

The advent of generalist Large Language Models (LLMs) and Large Vision Models (VLMs) have streamlined the construction of semantically enriched maps that can enable robots to ground high-level reasoning and planning into their…

Panoptic segmentation unifies semantic and instance segmentation and thus delivers a semantic class label and, for so-called thing classes, also an instance label per pixel. The differentiation of distinct objects of the same class with a…

We present Panoptic Neural Fields (PNF), an object-aware neural scene representation that decomposes a scene into a set of objects (things) and background (stuff). Each object is represented by an oriented 3D bounding box and a multi-layer…

Probabilistic Virtual Fixtures (VFs) enable the adaptive selection of the most suitable haptic feedback for each phase of a task, based on learned or perceived uncertainty. While keeping the human in the loop remains essential, for…

In this study, we investigate the task of data pre-selection, which aims to select instances for labeling from an unlabeled dataset through a single pass, thereby optimizing performance for undefined downstream tasks with a limited…

Prompt tuning, a parameter- and data-efficient transfer learning paradigm that tunes only a small number of parameters in a model's input space, has become a trend in the vision community since the emergence of large vision-language models…

Visual Spatial Reasoning is crucial for enabling Multimodal Large Language Models (MLLMs) to understand object properties and spatial relationships, yet current models still struggle with 3D-aware reasoning. Existing approaches typically…

This paper introduces SLIM-VDB, a new lightweight semantic mapping system with probabilistic semantic fusion for closed-set or open-set dictionaries. Advances in data structures from the computer graphics community, such as OpenVDB, have…

Merging parameters of multiple models has resurfaced as an effective strategy to enhance task performance and robustness, but prior work is limited by the high costs of ensemble creation and inference. In this paper, we leverage the…

In this work, we introduce panoramic panoptic segmentation, as the most holistic scene understanding, both in terms of Field of View (FoV) and image-level understanding for standard camera-based input. A complete surrounding understanding…