相关论文: HERO: Hierarchical Traversable 3D Scene Graphs for…

The concept of 3D scene graphs is increasingly recognized as a powerful semantic and hierarchical representation of the environment. Current approaches often address this at a coarse, object-level resolution. In contrast, our goal is to…

3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actionable kinematic information required for…

Robots operating in dynamic environments face significant challenges due to the presence of moving agents and displaced objects. Traditional SLAM systems typically assume a static world or treat dynamic as outliers, discarding their…

3D layout generation and editing play a crucial role in Embodied AI and immersive VR interaction. However, manual creation requires tedious labor, while data-driven generation often lacks diversity. The emergence of large models introduces…

The 3D scene graph models spatial relationships between objects, enabling the agent to efficiently navigate in a partially observable environment and predict the location of the target object.This paper proposes an original framework named…

Accurate and robust trajectory prediction of neighboring agents is critical for autonomous vehicles traversing in complex scenes. Most methods proposed in recent years are deep learning-based due to their strength in encoding complex…

High-level autonomous operations depend on a robot's ability to construct a sufficiently expressive model of its environment. Traditional three-dimensional (3D) scene representations, such as point clouds and occupancy grids, provide…

3D Scene Graphs (3DSGs) provide hierarchical, multi-resolution abstractions that encode the geometric and semantic structure of an environment, yet their treatment of dynamics remains limited to tracking individual agents. Maps of Dynamics…

The concept of function and affordance is a critical aspect of 3D scene understanding and supports task-oriented objectives. In this work, we develop a model that learns to structure and vary functional affordance across a 3D hierarchical…

3D visual grounding aims to localize the unique target described by natural languages in 3D scenes. The significant gap between 3D and language modalities makes it a notable challenge to distinguish multiple similar objects through the…

Heterogeneous graph neural networks have seen rapid progress in web applications such as social networks, knowledge graphs, and recommendation systems, driven by the inherent heterogeneity of web data. However, existing methods typically…

Enabling robots to efficiently search for and identify objects in complex, unstructured environments is critical for diverse applications ranging from household assistance to industrial automation. However, traditional scene representations…

3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge. Despite the fast-paced progress in robot perception, most…

Understanding how people interact with their surroundings and each other is essential for enabling robots to act in socially compliant and context-aware ways. While 3D Scene Graphs have emerged as a powerful semantic representation for…

We study the problem of robot navigation in dense and interactive crowds with static constraints such as corridors and furniture. Previous methods fail to consider all types of spatial and temporal interactions among agents and obstacles,…

Reasoning about complex visual scenes involves perception of entities and their relations. Scene graphs provide a natural representation for reasoning tasks, by assigning labels to both entities (nodes) and relations (edges). Unfortunately,…

In complex missions such as search and rescue,robots must make intelligent decisions in unknown environments, relying on their ability to perceive and understand their surroundings. High-quality and real-time reconstruction enhances…

Semantic world models enable embodied agents to reason about objects, relations, and spatial context beyond purely geometric representations. In Organic Computing, such models are a key enabler for objective-driven self-adaptation under…

Structured scene representations are a core component of embodied agents, helping to consolidate raw sensory streams into readable, modular, and searchable formats. Due to their high computational overhead, many approaches build such…

This paper addresses the problem of robot navigation in mixed geometric/semantic 3D environments. Given a hierarchical representation of the environment, the objective is to navigate from a start position to a goal, while satisfying…