相关论文: OpenNav: Efficient Open Vocabulary 3D Object Detec…

The global rise in the number of people with physical disabilities, in part due to improvements in post-trauma survivorship and longevity, has amplified the demand for advanced assistive technologies to improve mobility and independence.…

Precise 3D environmental mapping is pivotal in robotics. Existing methods often rely on predefined concepts during training or are time-intensive when generating semantic maps. This paper presents Open-Fusion, a groundbreaking approach for…

Reasoning about spatial relationships between objects is essential for many real-world robotic tasks, such as fetch-and-delivery, object rearrangement, and object search. The ability to detect and disambiguate different objects and identify…

We focus on the task of amodal 3D object detection in RGB-D images, which aims to produce a 3D bounding box of an object in metric form at its full extent. We introduce Deep Sliding Shapes, a 3D ConvNet formulation that takes a 3D…

Geometrically accurate and semantically expressive map representations have proven invaluable for robot deployment and task planning in unknown environments. Nevertheless, real-time, open-vocabulary semantic understanding of large-scale…

Zero-shot object navigation (ZSON) allows robots to find target objects in unfamiliar environments using natural language instructions, without relying on pre-built maps or task-specific training. Recent general-purpose models, such as…

We present the Semantics-aware Dataset and Benchmark Generation Pipeline for Open-vocabulary Object Navigation in Dynamic Scenes (SD-OVON). It utilizes pretraining multimodal foundation models to generate infinite unique photo-realistic…

LiDAR-based 3D object detection has recently seen significant advancements through active learning (AL), attaining satisfactory performance by training on a small fraction of strategically selected point clouds. However, in real-world…

Indoor built environments like homes and offices often present complex and cluttered layouts that pose significant challenges for individuals who are blind or visually impaired, especially when performing tasks that involve locating and…

Reconstructing compositional 3D representations of scenes, where each object is represented with its own 3D model, is a highly desirable capability in robotics and augmented reality. However, most existing methods rely heavily on strong…

Closed-set 3D perception models trained on only a pre-defined set of object categories can be inadequate for safety critical applications such as autonomous driving where new object types can be encountered after deployment. In this paper,…

Affordance detection is a challenging problem with a wide variety of robotic applications. Traditional affordance detection methods are limited to a predefined set of affordance labels, hence potentially restricting the adaptability of…

We present an Open-Vocabulary 3D Scene Graph (OVSG), a formal framework for grounding a variety of entities, such as object instances, agents, and regions, with free-form text-based queries. Unlike conventional semantic-based object…

Humans excel at forming mental maps of their surroundings, equipping them to understand object relationships and navigate based on language queries. Our previous work, SI Maps (Nanwani L, Agarwal A, Jain K, et al. Instance-level semantic…

An increasingly massive number of remote-sensing images spurs the development of extensible object detectors that can detect objects beyond training categories without costly collecting new labeled data. In this paper, we aim to develop…

Object-oriented embodied navigation aims to locate specific objects, defined by category or depicted in images. Existing methods often struggle to generalize to open vocabulary goals without extensive training data. While recent advances in…

This paper presents DetCLIPv2, an efficient and scalable training framework that incorporates large-scale image-text pairs to achieve open-vocabulary object detection (OVD). Unlike previous OVD frameworks that typically rely on a…

Recent works on open-vocabulary 3D instance segmentation show strong promise, but at the cost of slow inference speed and high computation requirements. This high computation cost is typically due to their heavy reliance on 3D clip…

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.…

Zero-shot object navigation is a challenging task for home-assistance robots. This task emphasizes visual grounding, commonsense inference and locomotion abilities, where the first two are inherent in foundation models. But for the…