相关论文: MA3DSG: Multi-Agent 3D Scene Graph Generation for …

Recent progress in image and video synthesis has inspired their use in advancing 3D scene generation. However, we observe that text-to-image and -video approaches struggle to maintain scene- and object-level consistency beyond a limited…

3D point cloud segmentation aims to assign semantic labels to individual points in a scene for fine-grained spatial understanding. Existing methods typically adopt data augmentation to alleviate the burden of large-scale annotation.…

This benchmark suite provides a comprehensive evaluation framework for assessing both individual LLMs and multi-agent systems in Real-world planning and scheduling scenarios. The suite encompasses 14 designed planning and scheduling…

Recent image generation approaches often address subject, style, and structure-driven conditioning in isolation, leading to feature entanglement and limited task transferability. In this paper, we introduce 3SGen, a task-aware unified…

3D multi object generative models allow us to synthesize a large range of novel 3D multi object scenes and also identify objects, shapes, layouts and their positions. But multi object scenes are difficult to create because of the dataset…

Real-time multi-agent collaboration for ego-motion estimation and high-fidelity 3D reconstruction is vital for scalable spatial intelligence. However, traditional methods produce sparse, low-detail maps, while recent dense mapping…

Modern machine learning models for scene understanding, such as depth estimation and object tracking, rely on large, high-quality datasets that mimic real-world deployment scenarios. To address data scarcity, we propose an end-to-end system…

The perception system in personalized mobile agents requires developing indoor scene understanding models, which can understand 3D geometries, capture objectiveness, analyze human behaviors, etc. Nonetheless, this direction has not been…

3D content generation has recently attracted significant research interest, driven by its critical applications in VR/AR and embodied AI. In this work, we tackle the challenging task of synthesizing multiple 3D assets within a single scene…

Large Language Models (LLMs) and Visual Language Models (VLMs) are attracting increasing interest due to their improving performance and applications across various domains and tasks. However, LLMs and VLMs can produce erroneous results,…

Large language model (LLM) agents have shown impressive reasoning capabilities in interactive decision-making tasks. These agents interact with environment through intermediate interfaces, such as predefined action spaces and interaction…

Single-agent systems (SAS) have become the default pattern for LLM-driven scientific workflows, but routing planning, tool use, and synthesis through a single context window comes with a well-known cost: as tool specifications and…

Current approaches for 3D scene graph prediction rely on labeled datasets to train models for a fixed set of known object classes and relationship categories. We present Open3DSG, an alternative approach to learn 3D scene graph prediction…

In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructions expressed in natural language. Our system builds a shared…

The advent of generalist Large Language Models (LLMs) and Large Vision Models (VLMs) have streamlined the construction of semantically enriched maps that can enable robots to ground high-level reasoning and planning into their…

We present GuidedSceneGen, a text-to-3D generation framework that produces metrically accurate, globally consistent, and semantically interpretable indoor scenes. Unlike prior text-driven methods that often suffer from geometric drift or…

Current multi-agent systems (MAS) frameworks often rely on manually designed and static collaboration graph structures, limiting adaptability and performance. To address these limitations, we propose DynaSwarm, a dynamic framework that…

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…

Multi-agent pathfinding (MAPF) traditionally focuses on collision avoidance, but many real-world applications require active coordination between agents to improve team performance. This paper introduces Team Coordination on Graphs with…

Driven by successes in deep learning, computer vision research has begun to move beyond object detection and image classification to more sophisticated tasks like image captioning or visual question answering. Motivating such endeavors is…