相关论文: Query3D: LLM-Powered Open-Vocabulary Scene Segment…

Modeling open-vocabulary language fields in 3D is essential for intuitive human-AI interaction and querying within physical environments. State-of-the-art approaches, such as LangSplat, leverage 3D Gaussian Splatting to efficiently…

3D Gaussian Splatting (3DGS) has emerged as a powerful representation for neural scene reconstruction, offering high-quality novel view synthesis while maintaining computational efficiency. In this paper, we extend the capabilities of 3DGS…

Prior studies on 3D scene understanding have primarily developed specialized models for specific tasks or required task-specific fine-tuning. In this study, we propose Grounded 3D-LLM, which explores the potential of 3D large multi-modal…

The advent of Large Language Models (LLM) provides new insights to validate Automated Driving Systems (ADS). In the herein-introduced work, a novel approach to extracting scenarios from naturalistic driving datasets is presented. A…

We introduce ShelfGaussian, an open-vocabulary multi-modal Gaussian-based 3D scene understanding framework supervised by off-the-shelf vision foundation models (VFMs). Gaussian-based methods have demonstrated superior performance and…

We present GALA3D, generative 3D GAussians with LAyout-guided control, for effective compositional text-to-3D generation. We first utilize large language models (LLMs) to generate the initial layout and introduce a layout-guided 3D Gaussian…

The integration of Large Language Models (LLMs) with computer vision is profoundly transforming perception tasks like image segmentation. For intelligent transportation systems (ITS), where accurate scene understanding is critical for…

Vision-based autonomous driving has gained much attention due to its low costs and excellent performance. Compared with dense BEV (Bird's Eye View) or sparse query models, Gaussian-centric method is a comprehensive yet sparse representation…

Using tools by Large Language Models (LLMs) is a promising avenue to extend their reach beyond language or conversational settings. The number of tools can scale to thousands as they enable accessing sensory information, fetching updated…

Recent advancements in 3D scene understanding have made significant strides in enabling interaction with scenes using open-vocabulary queries, particularly for VR/AR and robotic applications. Nevertheless, existing methods are hindered by…

Building semantic 3D maps is valuable for searching for objects of interest in offices, warehouses, stores, and homes. We present a mapping system that incrementally builds a Language-Embedded Gaussian Splat (LEGS): a detailed 3D scene…

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…

Open-set perception in complex traffic environments poses a critical challenge for autonomous driving systems, particularly in identifying previously unseen object categories, which is vital for ensuring safety. Visual Language Models…

Autonomous vehicles (AVs) rely on sophisticated perception systems to interpret their surroundings, a cornerstone for safe navigation and decision-making. The integration of Large Language Models (LLMs) into AV perception frameworks offers…

Large language models (LLMs) have undergone significant expansion and have been increasingly integrated across various domains. Notably, in the realm of robot task planning, LLMs harness their advanced reasoning and language comprehension…

Large language models (LLMs) have unlocked new capabilities of task planning from human instructions. However, prior attempts to apply LLMs to real-world robotic tasks are limited by the lack of grounding in the surrounding scene. In this…

Pedestrian safety is a critical component of urban mobility and is strongly influenced by the interactions between pedestrian decision-making and driver yielding behavior at crosswalks. Modeling driver--pedestrian interactions at…

This paper explores leveraging large language models for map-free off-road navigation using generative AI, reducing the need for traditional data collection and annotation. We propose a method where a robot receives verbal instructions,…

Gaussian Splatting has rapidly emerged as a transformative technique for real-time 3D scene representation, offering a highly efficient and expressive alternative to Neural Radiance Fields (NeRF). Its ability to render complex scenes with…

In the evolving landscape of transportation systems, integrating Large Language Models (LLMs) offers a promising frontier for advancing intelligent decision-making across various applications. This paper introduces a novel 3-dimensional…