相关论文: Social 3D Scene Graphs: Modeling Human Actions and…

Connecting current observations with prior experiences helps robots adapt and plan in new, unseen 3D environments. Recently, 3D scene analogies have been proposed to connect two 3D scenes, which are smooth maps that align scene regions with…

Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…

Humans are social creatures who readily recognize various social interactions from simple display of moving shapes. While previous research has often focused on visual features, we examine what semantic representations that humans employ to…

Modern 3D semantic scene graph estimation methods utilize ground truth 3D annotations to accurately predict target objects, predicates, and relationships. In the absence of given 3D ground truth representations, we explore leveraging only…

Citizen engagement and technology usage are two emerging trends driven by smart city initiatives. Governments around the world are adopting technology for faster resolution of civic issues. Typically, citizens report issues, such as broken…

Mapping and scene representation are fundamental to reliable planning and navigation in mobile robots. While purely geometric maps using voxel grids allow for general navigation, obtaining up-to-date spatial and semantically rich…

To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…

We propose a novel task of text-controlled human object interaction generation in 3D scenes with movable objects. Existing human-scene interaction datasets suffer from insufficient interaction categories and typically only consider…

3D scene graphs have recently emerged as an expressive high-level map representation that describes a 3D environment as a layered graph where nodes represent spatial concepts at multiple levels of abstraction (e.g., objects, rooms,…

Taking over arbitrary tasks like humans do with a mobile service robot in open-world settings requires a holistic scene perception for decision-making and high-level control. This paper presents a human-inspired scene perception model to…

Understanding 3d human interactions is fundamental for fine-grained scene analysis and behavioural modeling. However, most of the existing models predict incorrect, lifeless 3d estimates, that miss the subtle human contact aspects--the…

In this paper, we propose a minimum set of concepts and signals needed to track the social state during Human-Robot Interaction. We look into the problem of complex continuous interactions in a social context with multiple humans and…

Well-designed indoor scenes should prioritize how people can act within a space rather than merely what objects to place. However, existing 3D scene generation methods emphasize visual and semantic plausibility, while insufficiently…

For a robot to act intelligently, it needs to sense the world around it. Increasingly, robots build an internal representation of the world from sensor readings. This representation can then be used to inform downstream tasks, such as…

Segmenting humans in 3D indoor scenes has become increasingly important with the rise of human-centered robotics and AR/VR applications. To this end, we propose the task of joint 3D human semantic segmentation, instance segmentation and…

As pretrained text-to-image diffusion models become increasingly powerful, recent efforts have been made to distill knowledge from these text-to-image pretrained models for optimizing a text-guided 3D model. Most of the existing methods…

Outdoor intelligent autonomous robotic operation relies on a sufficiently expressive map of the environment. Classical geometric mapping methods retain essential structural environment information, but lack a semantic understanding and…

Guided synthesis of high-quality 3D scenes is a challenging task. Diffusion models have shown promise in generating diverse data, including 3D scenes. However, current methods rely directly on text embeddings for controlling the generation,…

The problem of predicting human motion given a sequence of past observations is at the core of many applications in robotics and computer vision. Current state-of-the-art formulate this problem as a sequence-to-sequence task, in which a…

In robotics, the effective integration of environmental data into actionable knowledge remains a significant challenge due to the variety and incompatibility of data formats commonly used in scene descriptions, such as MJCF, URDF, and SDF.…