相关论文: RAG-3DSG: Enhancing 3D Scene Graphs with Re-Shot G…

Accurately understanding and deciding high-level meta-actions is essential for ensuring reliable and safe autonomous driving systems. While vision-language models (VLMs) have shown significant potential in various autonomous driving tasks,…

Retrieval-Augmented Generation (RAG) has emerged as a powerful paradigm to enhance large language models (LLMs) by conditioning generation on external evidence retrieved at inference time. While RAG addresses critical limitations of…

Vision-based Retrieval-Augmented Generation (VisRAG) leverages vision-language models (VLMs) to jointly retrieve relevant visual documents and generate grounded answers based on multimodal evidence. However, existing VisRAG models degrade…

Bridging natural language and 3D geometry is a crucial step toward flexible, language-driven scene understanding. While recent advances in 3D Gaussian Splatting (3DGS) have enabled fast and high-quality scene reconstruction, research has…

Automating teaching presents unique challenges, as replicating human interaction and adaptability is complex. Automated systems cannot often provide nuanced, real-time feedback that aligns with students' individual learning paces or…

Retrieval-augmented generation (RAG) improves large language models (LLMs) by using external knowledge to guide response generation, reducing hallucinations. However, RAG, particularly multi-modal RAG, can introduce new hallucination…

Naive Retrieval-Augmented Generation (RAG) focuses on individual documents during retrieval and, as a result, falls short in handling networked documents which are very popular in many applications such as citation graphs, social media, and…

Retrieval-Augmented Generation (RAG) has emerged as a powerful technique for enhancing the quality of responses in Question-Answering (QA) tasks. However, existing approaches often struggle with retrieving contextually relevant information,…

We introduce Autoregressive Retrieval Augmentation (AR-RAG), a novel paradigm that enhances image generation by autoregressively incorporating knearest neighbor retrievals at the patch level. Unlike prior methods that perform a single,…

3D Gaussian Splatting (3DGS) leverages densely distributed Gaussian primitives for high-quality scene representation and reconstruction. While existing 3DGS methods perform well in scenes with minor view variation, large view changes from…

Embodied navigation is a fundamental capability for robotic agents operating. Real-world deployment requires open vocabulary generalization and low training overhead, motivating zero-shot methods rather than task-specific RL training.…

Retrieval-Augmented Generation (RAG) is a powerful strategy for improving the factual accuracy of models by retrieving external knowledge relevant to queries and incorporating it into the generation process. However, existing approaches…

3DGS is an emerging and increasingly popular technology in the field of novel view synthesis. Its highly realistic rendering quality and real-time rendering capabilities make it promising for various applications. However, when applied to…

Reconstructing static 3D scene from monocular video with dynamic objects is important for numerous applications such as virtual reality and autonomous driving. Current approaches typically rely on background for static scene reconstruction,…

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,…

Automatic generation of executable Blender code from natural language remains challenging, with state-of-the-art LLMs producing frequent syntactic errors and geometrically inconsistent objects. We present BlenderRAG, a retrieval-augmented…

Mapping and understanding complex 3D environments is fundamental to how autonomous systems perceive and interact with the physical world, requiring both precise geometric reconstruction and rich semantic comprehension. While existing 3D…

A proper scene representation is central to the pursuit of spatial intelligence where agents can robustly reconstruct and efficiently understand 3D scenes. A scene representation is either metric, such as landmark maps in 3D reconstruction,…

Language-augmented scene representations hold great promise for large-scale robotics applications such as search-and-rescue, smart cities, and mining. Many of these scenarios are time-sensitive, requiring rapid scene encoding while also…

This paper proposes a novel framework for large-scale scene reconstruction based on 3D Gaussian splatting (3DGS) and aims to address the scalability and accuracy challenges faced by existing methods. For tackling the scalability issue, we…