相关论文: Open Scene Graphs for Open World Object-Goal Navig…

Collaborative perception in unknown environments is crucial for multi-robot systems. With the emergence of foundation models, robots can now not only perceive geometric information but also achieve open-vocabulary scene understanding.…

Large scale scenes such as multifloor homes can be robustly and efficiently mapped with a 3D graph of landmarks estimated jointly with robot poses in a factor graph, a technique commonly used in commercial robots such as drones and robot…

Representing and understanding 3D environments in a structured manner is crucial for autonomous agents to navigate and reason about their surroundings. While traditional Simultaneous Localization and Mapping (SLAM) methods generate metric…

This paper studies the problem of image-goal navigation which involves navigating to the location indicated by a goal image in a novel previously unseen environment. To tackle this problem, we design topological representations for space…

OpenStreetMap (OSM) is a vital resource for investigative journalists doing geolocation verification. However, existing tools to query OSM data such as Overpass Turbo require familiarity with complex query languages, creating barriers for…

3D Gaussian Splatting is renowned for its high-fidelity reconstructions and real-time novel view synthesis, yet its lack of semantic understanding limits object-level perception. In this work, we propose ObjectGS, an object-aware framework…

In recent years, open-vocabulary (OV) object detection has attracted increasing research attention. Unlike traditional detection, which only recognizes fixed-category objects, OV detection aims to detect objects in an open category set.…

This paper presents a framework that leverages pre-trained foundation models for robotic manipulation without domain-specific training. The framework integrates off-the-shelf models, combining multimodal perception from foundation models…

OpenStreetMap (OSM) is one of the richest openly available sources of volunteered geographic information. Although OSM includes various geographical entities, their descriptions are highly heterogeneous, incomplete, and do not follow any…

The concept of 3D scene graphs is increasingly recognized as a powerful semantic and hierarchical representation of the environment. Current approaches often address this at a coarse, object-level resolution. In contrast, our goal is to…

Modern tools for class-agnostic image segmentation (e.g., SegmentAnything) and open-set semantic understanding (e.g., CLIP) provide unprecedented opportunities for robot perception and mapping. While traditional closed-set metric-semantic…

A 3D scene graph represents a compact scene model by capturing both the objects present and the semantic relationships between them, making it a promising structure for robotic applications. To effectively interact with users, an embodied…

In this paper, we present a framework for real-time autonomous robot navigation based on cloud and on-demand databases to address two major issues of human-like robot interaction and task planning in global dynamic environment, which is not…

Scene Graph Generation (SGG) encodes visual relationships between objects in images as graph structures. Thanks to the advances of Vision-Language Models (VLMs), the task of Open-Vocabulary SGG has been recently proposed where models are…

A scene graph is a structured representation of objects and their spatio-temporal relationships in dynamic scenes. Scene Graph Anticipation (SGA) involves predicting future scene graphs from video clips, enabling applications in intelligent…

Modern intelligent and autonomous robotic applications often require robots to have more information about their environment than that provided by traditional occupancy grid maps. For example, a robot tasked to perform autonomous semantic…

We aim for mobile robots to function in a variety of common human environments. Such robots need to be able to reason about the locations of previously unseen target objects. Landmark objects can help this reasoning by narrowing down the…

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…

Visual navigation in robotics traditionally relies on globally-consistent 3D maps or learned controllers, which can be computationally expensive and difficult to generalize across diverse environments. In this work, we present a novel…

Understanding the geometric and semantic structure of environments is essential for embodied navigation and reasoning. Existing semantic mapping methods trade off between explicit geometry and multi-scale semantics, and lack a native…