相关论文: SG-Nav: Online 3D Scene Graph Prompting for LLM-ba…

Scene Graph Generation (SGG) plays a pivotal role in downstream vision-language tasks. Existing SGG methods typically suffer from poor compositional generalizations on unseen triplets. They are generally trained on incompletely annotated…

The combination of strong visual backbones and Large Language Model (LLM) reasoning has led to Large Multimodal Models (LMMs) becoming the current standard for a wide range of vision and language (VL) tasks. However, recent research has…

In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…

Zero-shot Vision-and-Language Navigation (VLN) agents leveraging Large Language Models (LLMs) excel in generalization but suffer from insufficient spatial perception. Focusing on complex continuous environments, we categorize key perceptual…

Teaching machines of scene contextual knowledge would enable them to interact more effectively with the environment and to anticipate or predict objects that may not be immediately apparent in their perceptual field. In this paper, we…

We present a method for generating, predicting, and using Spatiotemporal Occupancy Grid Maps (SOGM), which embed future semantic information of real dynamic scenes. We present an auto-labeling process that creates SOGMs from noisy real…

This paper describes a framework for the object-goal navigation task, which requires a robot to find and move to the closest instance of a target object class from a random starting position. The framework uses a history of robot…

Object navigation (ObjectNav) in real-world environments is a complex problem that requires simultaneously addressing multiple challenges, including complex spatial structure, long-horizon planning and semantic understanding. Recent…

This paper addresses the problem of building augmented metric representations of scenes with semantic information from RGB-D images. We propose a complete framework to create an enhanced map representation of the environment with…

Object Goal Navigation-requiring an agent to locate a specific object in an unseen environment-remains a core challenge in embodied AI. Although recent progress in Vision-Language Model (VLM)-based agents has demonstrated promising…

Service robots are increasingly deployed in diverse and dynamic environments, where both physical layouts and social contexts change over time and across locations. In these unstructured settings, conventional navigation systems that rely…

This paper investigates the zero-shot object goal visual navigation problem. In the object goal visual navigation task, the agent needs to locate navigation targets from its egocentric visual input. "Zero-shot" means that the target the…

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…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…

A proper scene representation is central to the pursuit of spatial intelligence where agents can robustly reconstruct and efficiently understand 3D scenes. A scene representation is either metric, such as landmark maps in 3D reconstruction,…

Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…

We present a novel architecture aimed towards incremental construction and exploitation of a hierarchical 3D scene graph representation during semantic-aware inspection missions. Inspection planning, particularly of distributed targets in…

Object detection is essential to safe autonomous or assisted driving. Previous works usually utilize RGB images or LiDAR point clouds to identify and localize multiple objects in self-driving. However, cameras tend to fail in bad driving…

A typical human strategy for giving navigation guidance is to sketch route maps based on the environmental layout. Inspired by this, we introduce Sketch map-based visual Navigation (SkeNa), an embodied navigation task in which an agent must…

Sometimes the meaning conveyed by images goes beyond the list of objects they contain; instead, images may express a powerful message to affect the viewers' minds. Inferring this message requires reasoning about the relationships between…