相关论文: Dynamic Open-Vocabulary 3D Scene Graphs for Long-t…

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…

Open-vocabulary scene understanding is crucial for robotic applications, enabling robots to comprehend complex 3D environmental contexts and supporting various downstream tasks such as navigation and manipulation. However, existing methods…

We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (e.g. objects, walls, rooms), and edges represent relations (e.g.…

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…

Learning robust manipulation policies typically requires large and diverse datasets, the collection of which is time-consuming, labor-intensive, and often impractical for dynamic environments. In this work, we introduce DynaMimicGen (D-MG),…

In recent years, 3D scene graphs have emerged as a powerful world representation, offering both geometric accuracy and semantic richness. Combining 3D scene graphs with large language models enables robots to reason, plan, and navigate in…

Autonomous language-guided navigation in large-scale outdoor environments remains a key challenge in mobile robotics, due to difficulties in semantic reasoning, dynamic conditions, and long-term stability. We propose CausalNav, the first…

Understanding how people interact with their surroundings and each other is essential for enabling robots to act in socially compliant and context-aware ways. While 3D Scene Graphs have emerged as a powerful semantic representation for…

We propose OVIGo-3DHSG method - Open-Vocabulary Indoor Grounding of objects using 3D Hierarchical Scene Graph. OVIGo-3DHSG represents an extensive indoor environment over a Hierarchical Scene Graph derived from sequences of RGB-D frames…

3D visual grounding aims to localize the unique target described by natural languages in 3D scenes. The significant gap between 3D and language modalities makes it a notable challenge to distinguish multiple similar objects through the…

Functional 3D scene graphs offer a versatile and flexible representation for 3D scene understanding and robotic manipulation, defined by object nodes, interactive elements, and functional relationship edges. However, their potential remains…

For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and planning. Recent approaches have attempted to leverage features…

Environment representations endowed with sophisticated semantics are pivotal for facilitating seamless interaction between robots and humans, enabling them to effectively carry out various tasks. Open-vocabulary maps, powered by…

High-level autonomous operations depend on a robot's ability to construct a sufficiently expressive model of its environment. Traditional three-dimensional (3D) scene representations, such as point clouds and occupancy grids, provide…

While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant…

With the development of embodied artificial intelligence, robotic research has increasingly focused on complex tasks. Existing simulation platforms, however, are often limited to idealized environments, simple task scenarios and lack data…

3D scene representation for robot manipulation should capture three key object properties: permanency -- objects that become occluded over time continue to exist; amodal completeness -- objects have 3D occupancy, even if only partial…

Indoor mobile manipulation (MoMA) enables robots to translate natural language instructions into physical actions, yet long-horizon execution remains challenging due to cascading errors and limited generalization across diverse…

The analysis of events in dynamic environments poses a fundamental challenge in the development of intelligent agents and robots capable of interacting with humans. Current approaches predominantly utilize visual models. However, these…

Dynamic scene graph generation extends scene graph generation from images to videos by modeling entity relationships and their temporal evolution. However, existing methods either generate scene graphs from observed frames without…