相关论文: SLARM: Streaming and Language-Aligned Reconstructi…

Object Simultaneous Localization and Mapping (SLAM) systems struggle to correctly associate semantically similar objects in close proximity, especially in cluttered indoor environments and when scenes change. We present Semantic Enhancement…

Navigating human-filled spaces is crucial for the interactive social robots to support advanced services, such as cooperative carrying, which enables service provision in complex and crowded environments while adapting behavior based on…

We present SWIM (See What I Mean), a novel training strategy that aligns vision and language representations to enable fine-grained object understanding solely from textual prompts. Unlike existing approaches that require explicit visual…

Continual learning has gained increasing importance as it facilitates the acquisition and refinement of scalable knowledge and skills in language models. However, existing methods typically encounter strict limitations and challenges in…

Semantic-aware 3D scene reconstruction is essential for autonomous robots to perform complex interactions. Semantic SLAM, an online approach, integrates pose tracking, geometric reconstruction, and semantic mapping into a unified framework,…

Recent advancements in Simultaneous Localization and Mapping (SLAM) have increasingly highlighted the robustness of LiDAR-based techniques. At the same time, Neural Radiance Fields (NeRF) have introduced new possibilities for 3D scene…

Large Language Models (LLMs) excel at capturing latent semantics and contextual relationships across diverse modalities. However, in modeling user behavior from sequential interaction data, performance often suffers when such semantic…

Diffusion Language Models (DLMs) enable parallel decoding via iterative denoising, where remasking strategies play a critical role in balancing inference speed and output quality. Existing methods predominantly rely on static confidence…

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…

Simultaneous localization and mapping (SLAM) with implicit neural representations has received extensive attention due to the expressive representation power and the innovative paradigm of continual learning. However, deploying such a…

We present SGS-SLAM, the first semantic visual SLAM system based on Gaussian Splatting. It incorporates appearance, geometry, and semantic features through multi-channel optimization, addressing the oversmoothing limitations of neural…

Simultaneous localization and mapping (SLAM) is a critical technology that enables autonomous robots to be aware of their surrounding environment. With the development of deep learning, SLAM systems can achieve a higher level of perception…

Standard Large Language Models (LLMs) are predominantly designed for static inference with pre-defined inputs, which limits their applicability in dynamic, real-time scenarios. To address this gap, the streaming LLM paradigm has emerged.…

We propose an online 3D semantic segmentation method that incrementally reconstructs a 3D semantic map from a stream of RGB-D frames. Unlike offline methods, ours is directly applicable to scenarios with real-time constraints, such as…

Significant strides have been made using large vision-language models, like Stable Diffusion (SD), for a variety of downstream tasks, including image editing, image correspondence, and 3D shape generation. Inspired by these advancements, we…

Most classical SLAM systems rely on the static scene assumption, which limits their applicability in real world scenarios. Recent SLAM frameworks have been proposed to simultaneously track the camera and moving objects. However they are…

Dynamic SLAM methods jointly estimate for the static and dynamic scene components, however existing approaches, while accurate, are computationally expensive and unsuitable for online applications. In this work, we present the first…

A 3D scene graph represents a compact scene model by capturing both the objects present and the semantic relationships between them, making it a promising structure for robotic applications. To effectively interact with users, an embodied…

This paper proposes PreSem-Surf, an optimized method based on the Neural Radiance Field (NeRF) framework, capable of reconstructing high-quality scene surfaces from RGB-D sequences in a short time. The method integrates RGB, depth, and…

Video super-resolution (VSR) is the task of restoring high-resolution frames from a sequence of low-resolution inputs. Different from single image super-resolution, VSR can utilize frames' temporal information to reconstruct results with…