相关论文: Relationship-Aware Hierarchical 3D Scene Graph for…

Recent advancements in multimodal large language models (LLMs) have demonstrated significant potential across various domains, particularly in concept reasoning. However, their applications in understanding 3D environments remain limited,…

We propose OVIGo-3DHSG method - Open-Vocabulary Indoor Grounding of objects using 3D Hierarchical Scene Graph. OVIGo-3DHSG represents an extensive indoor environment over a Hierarchical Scene Graph derived from sequences of RGB-D frames…

Visual Language Models (VLMs) have increasingly become the main paradigm for understanding indoor scenes, but they still struggle with metric and spatial reasoning. Current approaches rely on end-to-end video understanding or large-scale…

Scene understanding is an important capability for robots acting in unstructured environments. While most SLAM approaches provide a geometrical representation of the scene, a semantic map is necessary for more complex interactions with the…

Vision-language models (VLMs) excel at descriptive tasks, but whether they truly understand scenes from visual observations remains uncertain. We introduce IR3D-Bench, a benchmark challenging VLMs to demonstrate understanding through active…

Abstract semantic 3D scene understanding is a problem of critical importance in robotics. As robots still lack the common-sense knowledge about household objects and locations of an average human, we investigate the use of pre-trained…

Understanding a scene by decoding the visual relationships depicted in an image has been a long studied problem. While the recent advances in deep learning and the usage of deep neural networks have achieved near human accuracy on many…

In recent years, developing AI for robotics has raised much attention. The interaction of vision and language of robots is particularly difficult. We consider that giving robots an understanding of visual semantics and language semantics…

Dynamic scenes contain intricate spatio-temporal information, crucial for mobile robots, UAVs, and autonomous driving systems to make informed decisions. Parsing these scenes into semantic triplets <Subject-Predicate-Object> for accurate…

3D scene graphs hierarchically represent the environment appropriately organizing different environmental entities in various layers. Our previous work on situational graphs extends the concept of 3D scene graph to SLAM by tightly coupling…

Large language models (LLMs) are being increasingly explored for graph tasks. Despite their remarkable success in text-based tasks, LLMs' capabilities in understanding explicit graph structures remain limited, particularly with large…

Semantic mapping is a key component of robots operating in and interacting with objects in structured environments. Traditionally, geometric and knowledge representations within a semantic map have only been loosely integrated. However,…

As multimodal language models advance, their application to 3D scene understanding is a fast-growing frontier, driving the development of 3D Vision-Language Models (VLMs). Current methods show strong dependence on object detectors,…

Vision-language models (VLMs) have recently emerged as powerful representation learning systems that align visual observations with natural language concepts, offering new opportunities for semantic reasoning in safety-critical autonomous…

Constructing compact and informative 3D scene representations is essential for effective embodied exploration and reasoning, especially in complex environments over extended periods. Existing representations, such as object-centric 3D scene…

Traditional augmented reality (AR) systems predominantly rely on fixed class detectors or fiducial markers, limiting their ability to interpret complex, open-vocabulary natural language queries. We present a modular AR agent system that…

While Multimodal Large Language Models (MLLMs) excel in semantic tasks, they frequently lack the "spatial sense" essential for sophisticated geometric reasoning. Current models typically suffer from exorbitant modality-alignment costs and…

Panorama images have a much larger field-of-view thus naturally encode enriched scene context information compared to standard perspective images, which however is not well exploited in the previous scene understanding methods. In this…

Vision-and-Language Navigation (VLN) requires an agent to navigate in a real-world environment following natural language instructions. From both the textual and visual perspectives, we find that the relationships among the scene, its…

Large vision-language models (VLMs) still struggle with reliable 3D spatial reasoning, a core capability for embodied and physical AI systems. This limitation arises from their inability to capture fine-grained 3D geometry and spatial…