相关论文: OpenTie: Open-vocabulary Sequential Rebar Tying Sy…

Traditional 3D scene understanding approaches rely on labeled 3D datasets to train a model for a single task with supervision. We propose OpenScene, an alternative approach where a model predicts dense features for 3D scene points that are…

Autonomous vision applications in production, intralogistics, or manufacturing environments require perception capabilities beyond a small, fixed set of classes. Recent open-vocabulary methods, leveraging 2D Vision-Language Foundation…

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…

Open-vocabulary semantic segmentation enables models to recognize and segment objects from arbitrary natural language descriptions, offering the flexibility to handle novel, fine-grained, or functionally defined categories beyond fixed…

Most recent 3D instance segmentation methods are open vocabulary, offering a greater flexibility than closed-vocabulary methods. Yet, they are limited to reasoning within a specific set of concepts, \ie the vocabulary, prompted by the user…

Text-to-image generative models are becoming increasingly popular and accessible to the general public. As these models see large-scale deployments, it is necessary to deeply investigate their safety and fairness to not disseminate and…

We present OpenSeeD, a simple Open-vocabulary Segmentation and Detection framework that jointly learns from different segmentation and detection datasets. To bridge the gap of vocabulary and annotation granularity, we first introduce a…

Open-vocabulary panoptic reconstruction is a challenging task for simultaneous scene reconstruction and understanding. Recently, methods have been proposed for 3D scene understanding based on Gaussian splatting. However, these methods are…

Understanding 3D scenes in open-world settings poses fundamental challenges for vision and robotics, particularly due to the limitations of closed-vocabulary supervision and static annotations. To address this, we propose a unified…

Combining simple architectures with large-scale pre-training has led to massive improvements in image classification. For object detection, pre-training and scaling approaches are less well established, especially in the long-tailed and…

The open vocabulary capability of 3D models is increasingly valued, as traditional methods with models trained with fixed categories fail to recognize unseen objects in complex dynamic 3D scenes. In this paper, we propose a simple yet…

Most existing methods for training-free open-vocabulary semantic segmentation are based on CLIP. While these approaches have made progress, they often face challenges in precise localization or require complex pipelines to combine separate…

Unsupervised and open-vocabulary 3D object detection has recently gained attention, particularly in autonomous driving, where reducing annotation costs and recognizing unseen objects are critical for both safety and scalability. However,…

Open-vocabulary querying in 3D space is crucial for enabling more intelligent perception in applications such as robotics, autonomous systems, and augmented reality. However, most existing methods rely on 2D pixel-level parsing, leading to…

Robust robot localization is an important prerequisite for navigation, but it becomes challenging when the map and robot measurements are obtained from different sensors. Prior methods are often tailored to specific environments, relying on…

Modern 3D object detection datasets are constrained by narrow class taxonomies and costly manual annotations, limiting their ability to scale to open-world settings. In contrast, 2D vision-language models trained on web-scale image-text…

Open-vocabulary 3D scene understanding is indispensable for embodied agents. Recent works leverage pretrained vision-language models (VLMs) for object segmentation and project them to point clouds to build 3D maps. Despite progress, a point…

3D multi-object tracking plays a critical role in autonomous driving by enabling the real-time monitoring and prediction of multiple objects' movements. Traditional 3D tracking systems are typically constrained by predefined object…

Many robotic tasks require grasping objects at specific object parts instead of arbitrarily, a crucial capability for interactions beyond simple pick-and-place, such as human-robot interaction, handovers, or tool use. Prior work has focused…

Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…