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

Language-guided robotic grasping is a rapidly advancing field where robots are instructed using human language to grasp specific objects. However, existing methods often depend on dense camera views and struggle to quickly update scenes,…

Understanding 3D scenes is pivotal for autonomous driving, robotics, and augmented reality. Recent semantic Gaussian Splatting approaches leverage large-scale 2D vision models to project 2D semantic features onto 3D scenes. However, they…

Open-vocabulary semantic segmentation enables models to segment objects or image regions beyond fixed class sets, offering flexibility in dynamic environments. However, existing methods often rely on single-view images and struggle with…

Traditional LiDAR-based object detection research primarily focuses on closed-set scenarios, which falls short in complex real-world applications. Directly transferring existing 2D open-vocabulary models with some known LiDAR classes for…

We present ODISE: Open-vocabulary DIffusion-based panoptic SEgmentation, which unifies pre-trained text-image diffusion and discriminative models to perform open-vocabulary panoptic segmentation. Text-to-image diffusion models have the…

Audio-visual segmentation aims to separate sounding objects from videos by predicting pixel-level masks based on audio signals. Existing methods primarily concentrate on closed-set scenarios and direct audio-visual alignment and fusion,…

Open-vocabulary 3D visual grounding and reasoning aim to localize objects in a scene based on implicit language descriptions, even when they are occluded. This ability is crucial for tasks such as vision-language navigation and autonomous…

Recently, a few open-vocabulary methods have been proposed by employing a unified architecture to tackle generic segmentation and detection tasks. However, their performance still lags behind the task-specific models due to the conflict…

Open-Vocabulary Detection (OVD) is the task of detecting all interesting objects in a given scene without predefined object classes. Extensive work has been done to deal with the OVD for 2D RGB images, but the exploration of 3D OVD is still…

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…

Real-time open-vocabulary object detection (OVOD) is essential for practical deployment in dynamic environments, where models must recognize a large and evolving set of categories under strict latency constraints. Current real-time OVOD…

Audio grounding, or speech-driven open-set object detection, aims to localize and identify objects directly from speech, enabling generalization beyond predefined categories. This task is crucial for applications like human-robot…

Robust grasping in cluttered, unstructured environments remains challenging for mobile legged manipulators due to occlusions that lead to partial observations, unreliable depth estimates, and the need for collision-free, execution-feasible…

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…

We present a new open-vocabulary detection approach based on region-centric image-language pretraining to bridge the gap between image-level pretraining and open-vocabulary object detection. At the pretraining phase, we incorporate the…

Locating and retrieving objects from scene-level point clouds is a challenging problem with broad applications in robotics and augmented reality. This task is commonly formulated as open-vocabulary 3D instance segmentation. Although recent…

We present RADIO-ViPE (Reduce All Domains Into One -- Video Pose Engine), an online semantic SLAM system that enables geometry-aware open-vocabulary grounding, associating arbitrary natural language queries with localized 3D regions and…

3D Visual Grounding (3DVG) aims at localizing 3D object based on textual descriptions. Conventional supervised methods for 3DVG often necessitate extensive annotations and a predefined vocabulary, which can be restrictive. To address this…

Open-vocabulary semantic segmentation enables models to identify novel object categories beyond their training data. While this flexibility represents a significant advancement, current approaches still rely on manually specified class…

Commercial RGB-D cameras often produce noisy, incomplete depth maps for non-Lambertian objects. Traditional depth completion methods struggle to generalize due to the limited diversity and scale of training data. Recent advances exploit…