相关论文: CoSMo3D: Open-World Promptable 3D Semantic Part Se…

We present a novel approach to category-level 6D object pose and size estimation. To tackle intra-class shape variations, we learn canonical shape space (CASS), a unified representation for a large variety of instances of a certain object…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework…

3D spatial understanding is essential in real-world applications such as robotics, autonomous vehicles, virtual reality, and medical imaging. Recently, Large Language Models (LLMs), having demonstrated remarkable success across various…

Human-like generalization in open-world remains a fundamental challenge for robotic manipulation. Existing learning-based methods, including reinforcement learning, imitation learning, and vision-language-action-models (VLAs), often…

Humans excel at forming mental maps of their surroundings, equipping them to understand object relationships and navigate based on language queries. Our previous work, SI Maps (Nanwani L, Agarwal A, Jain K, et al. Instance-level semantic…

Open-vocabulary 3D segmentation is a fundamental yet challenging task, requiring a mutual understanding of both segmentation and language. However, existing Gaussian-splatting-based methods rely either on a single 3D language field, leading…

While spatial reasoning has made progress in object localization relationships, it often overlooks object orientation-a key factor in 6-DoF fine-grained manipulation. Traditional pose representations rely on pre-defined frames or templates,…

Exploring the semantic context in scene images is essential for indoor scene recognition. However, due to the diverse intra-class spatial layouts and the coexisting inter-class objects, modeling contextual relationships to adapt various…

Semantic understanding of scenes in three-dimensional space (3D) is a quintessential part of robotics oriented applications such as autonomous driving as it provides geometric cues such as size, orientation and true distance of separation…

Perception is an essential part of robotic manipulation in a semi-structured environment. Traditional approaches produce a narrow task-specific prediction (e.g., object's 6D pose), that cannot be adapted to other tasks and is ill-suited for…

Visual-spatial understanding, the ability to infer object relationships and layouts from visual input, is fundamental to downstream tasks such as robotic navigation and embodied interaction. However, existing methods face spatial…

Defining and reliably finding a canonical orientation for 3D surfaces is key to many Computer Vision and Robotics applications. This task is commonly addressed by handcrafted algorithms exploiting geometric cues deemed as distinctive and…

Point-cloud semantic segmentation underpins a wide range of critical applications. Although recent deep architectures and large-scale datasets have driven impressive closed-set performance, these models struggle to recognize or properly…

3D part segmentation is a crucial and challenging task in 3D perception, playing a vital role in applications such as robotics, 3D generation, and 3D editing. Recent methods harness the powerful Vision Language Models (VLMs) for 2D-to-3D…

Semantic object parsing is a fundamental task for understanding objects in detail in computer vision community, where incorporating multi-level contextual information is critical for achieving such fine-grained pixel-level recognition.…

This paper introduces a novel method for open-vocabulary 3D scene querying in autonomous driving by combining Language Embedded 3D Gaussians with Large Language Models (LLMs). We propose utilizing LLMs to generate both contextually…

Parametric 3D models have formed a fundamental role in modeling deformable objects, such as human bodies, faces, and hands; however, the construction of such parametric models requires significant manual intervention and domain expertise.…

3D semantic segmentation is a critical task in many real-world applications, such as autonomous driving, robotics, and mixed reality. However, the task is extremely challenging due to ambiguities coming from the unstructured, sparse, and…

Articulated object perception presents significant challenges in computer vision, particularly because most existing methods ignore temporal dynamics despite the inherently dynamic nature of such objects. The use of 4D temporal data has not…