相关论文: RAZER: Robust Accelerated Zero-Shot 3D Open-Vocabu…

3D visual grounding is a critical skill for household robots, enabling them to navigate, manipulate objects, and answer questions based on their environment. While existing approaches often rely on extensive labeled data or exhibit…

Estimating the 3D world from 2D monocular images is a fundamental yet challenging task due to the labour-intensive nature of 3D annotations. To simplify label acquisition, this work proposes a novel approach that bridges 2D vision…

Can we synthesize 3D humans interacting with scenes without learning from any 3D human-scene interaction data? We propose GenZI, the first zero-shot approach to generating 3D human-scene interactions. Key to GenZI is our distillation of…

Previous Vision-Language-Action models face critical limitations in navigation: scarce, diverse data from labor-intensive collection and static representations that fail to capture temporal dynamics and physical laws. We propose NavDreamer,…

Object navigation is a core capability of embodied intelligence, enabling an agent to locate target objects in unknown environments. Recent advances in vision-language models (VLMs) have facilitated zero-shot object navigation (ZSON).…

Open-vocabulary scene understanding using 3D Gaussian (3DGS) representations has garnered considerable attention. However, existing methods mostly lift knowledge from large 2D vision models into 3DGS on a scene-by-scene basis, restricting…

Modeling 3D articulated objects with realistic geometry, textures, and kinematics is essential for a wide range of applications. However, existing optimization-based reconstruction methods often require dense multi-view inputs and expensive…

Semantic segmentation is a crucial task in computer vision that involves segmenting images into semantically meaningful regions at the pixel level. However, existing approaches often rely on expensive human annotations as supervision for…

We describe an approach to predict open-vocabulary 3D semantic voxel occupancy map from input 2D images with the objective of enabling 3D grounding, segmentation and retrieval of free-form language queries. This is a challenging problem…

Robust visual localization under a wide range of viewing conditions is a fundamental problem in computer vision. Handling the difficult cases of this problem is not only very challenging but also of high practical relevance, e.g., in the…

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…

Robotic systems demand accurate and comprehensive 3D environment perception, requiring simultaneous capture of photo-realistic appearance (optical), precise layout shape (geometric), and open-vocabulary scene understanding (semantic).…

3D reconstruction and novel view synthesis are critical for validating autonomous driving systems and training advanced perception models. Recent self-supervised methods have gained significant attention due to their cost-effectiveness and…

3D scene reconstruction is a foundational problem in computer vision. Despite recent advancements in Neural Implicit Representations (NIR), existing methods often lack editability and compositional flexibility, limiting their use in…

Open-vocabulary panoptic reconstruction offers comprehensive scene understanding, enabling advances in embodied robotics and photorealistic simulation. In this paper, we propose PanopticRecon++, an end-to-end method that formulates panoptic…

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.…

Target localization is a prerequisite for embodied tasks such as navigation and manipulation. Conventional approaches rely on constructing explicit 3D scene representations to enable target localization, such as point clouds, voxel grids,…

Cooperative visual semantic navigation is a foundational capability for aerial robot teams operating in unknown environments. However, achieving robust open-vocabulary object-goal navigation remains challenging due to the computational…

3D Gaussian Splatting (GS) enables fast and high-quality scene reconstruction, but it lacks an object-consistent and semantically aware structure. We propose Split&Splat, a framework for panoptic scene reconstruction using 3DGS. Our…

Visual Document Retrieval (VDR) typically operates as text-to-image retrieval using specialized bi-encoders trained to directly embed document images. We revisit a zero-shot generate-and-encode pipeline: a vision-language model first…