相关论文: FreeQ-Graph: Free-form Querying with Semantic Cons…

Traditionally, training neural networks to perform semantic segmentation required expensive human-made annotations. But more recently, advances in the field of unsupervised learning have made significant progress on this issue and towards…

Exploiting multiple modalities for semantic scene parsing has been shown to improve accuracy over the singlemodality scenario. However multimodal datasets often suffer from problems such as data misalignment and label inconsistencies, where…

Injecting semantics into 3D Gaussian Splatting (3DGS) has recently garnered significant attention. While current approaches typically distill 3D semantic features from 2D foundational models (e.g., CLIP and SAM) to facilitate novel view…

Conventional approaches to image-text retrieval mainly focus on indexing visual objects appearing in pictures but ignore the interactions between these objects. Such objects occurrences and interactions are equivalently useful and important…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

We propose a new, training-free method, Graph Reasoning via Retrieval Augmented Framework (GRRAF), that harnesses retrieval-augmented generation (RAG) alongside the code-generation capabilities of large language models (LLMs) to address a…

Despite enormous progress in Natural Language Processing (NLP), our field is still lacking a common deep semantic representation scheme. As a result, the problem of meaning and understanding is typically sidestepped through more simple,…

Semantic mapping is a key component of robots operating in and interacting with objects in structured environments. Traditionally, geometric and knowledge representations within a semantic map have only been loosely integrated. However,…

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…

Ambiguity poses a major challenge to large language models (LLMs) used as robotic planners. In this letter, we present Scene Graph-Chain-of-Thought (SG-CoT), a two-stage framework where LLMs iteratively query a scene graph representation of…

Scene generation has extensive industrial applications, demanding both high realism and precise control over geometry and appearance. Language-driven retrieval methods compose plausible scenes from a large object database, but overlook…

Recent advancements in 3D Gaussian Splatting have significantly improved the efficiency and quality of dense semantic SLAM. However, previous methods are generally constrained by limited-category pre-trained classifiers and implicit…

Large Language Models (LLMs) have demonstrated strong capabilities in various natural language processing tasks; however, their application to graph-related problems remains limited, primarily due to scalability constraints and the absence…

Learning similarity between scene graphs and images aims to estimate a similarity score given a scene graph and an image. There is currently no research dedicated to this task, although it is critical for scene graph generation and…

Visual question answering is concerned with answering free-form questions about an image. Since it requires a deep linguistic understanding of the question and the ability to associate it with various objects that are present in the image,…

In recent years, the paradigm of neural implicit representations has gained substantial attention in the field of Simultaneous Localization and Mapping (SLAM). However, a notable gap exists in the existing approaches when it comes to scene…

Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarchy of semantic entities and their relationships, and can be…

We propose a new 3D spatial understanding task of 3D Question Answering (3D-QA). In the 3D-QA task, models receive visual information from the entire 3D scene of the rich RGB-D indoor scan and answer the given textual questions about the 3D…

Advancements in generative models have sparked significant interest in generating images while adhering to specific structural guidelines. Scene graph to image generation is one such task of generating images which are consistent with the…

Visual-spatial understanding, the ability to infer object relationships and layouts from visual input, is fundamental to downstream tasks such as robotic navigation and embodied interaction. However, existing methods face spatial…