相关论文: Perceive-then-Plan: Layout-as-Policy for Monocular…

Robots operating in the real world must plan through environments that deform, yield, and reconfigure under contact, requiring interaction-aware 3D representations that extend beyond static geometric occupancy. To address this, we introduce…

We present LoR-LUT, a unified low-rank formulation for compact and interpretable 3D lookup table (LUT) generation. Unlike conventional 3D-LUT-based techniques that rely on fusion of basis LUTs, which are usually dense tensors, our unified…

A central problem in artificial intelligence is that of planning to maximize future reward under uncertainty in a partially observable environment. In this paper we propose and demonstrate a novel algorithm which accurately learns a model…

D scene graphs are an emerging 3D scene representation, that models both the objects present in the scene as well as their relationships. However, learning 3D scene graphs is a challenging task because it requires not only object labels but…

Intelligent agents can learn to represent the action spaces of other agents simply by observing them act. Such representations help agents quickly learn to predict the effects of their own actions on the environment and to plan complex…

We present the Latent Adaptive Planner (LAP), a trajectory-level latent-variable policy for dynamic nonprehensile manipulation (e.g., box catching) that formulates planning as inference in a low-dimensional latent space and is learned…

Robotic planning systems model spatial relations in detail as these are needed for manipulation tasks. In contrast to this, other physical attributes of objects and the effect of devices are usually oversimplified and expressed by abstract…

The rapid development of Large Multimodal Models (LMMs) has led to remarkable progress in 2D visual understanding; however, extending these capabilities to 3D scene understanding remains a significant challenge. Existing approaches…

Agents navigating in 3D environments require some form of memory, which should hold a compact and actionable representation of the history of observations useful for decision taking and planning. In most end-to-end learning approaches the…

Predictive coding theories suggest that the brain learns by predicting observations at various levels of abstraction. One of the most basic prediction tasks is view prediction: how would a given scene look from an alternative viewpoint?…

Most common tasks for robots in dynamic spaces require that the environment is regularly and actively perceived, with many of them explicitly requiring objects or persons to be within view, i.e., for monitoring or safety. However, solving…

Depth estimation, visual odometry (VO), and bird's-eye-view (BEV) scene layout estimation present three critical tasks for driving scene perception, which is fundamental for motion planning and navigation in autonomous driving. Though they…

In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…

We study the inverse graphics problem of inferring a holistic representation for natural images. Given an input image, our goal is to induce a neuro-symbolic, program-like representation that jointly models camera poses, object locations,…

Decades of cognitive science establish that humans navigate environments by forming cognitive maps, defined as allocentric and topology-preserving representations of 3D space. While modern Vision-Language Models (VLMs) demonstrate emergent…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

Estimating the layout of a room from a single-shot panoramic image is important in virtual/augmented reality and furniture layout simulation. This involves identifying three-dimensional (3D) geometry, such as the location of corners and…

The rapid advancement of Multimodal Large Language Models (MLLMs) has significantly impacted various multimodal tasks. However, these models face challenges in tasks that require spatial understanding within 3D environments. Efforts to…

Recent advances in computer vision facilitate fully automatic extraction of object-centric relational representations from visual-inertial data. These state representations, dubbed 3D scene graphs, are a hierarchical decomposition of…

Vision-Language Navigation (VLN) requires agents to follow natural language instructions in partially observed 3D environments, motivating map representations that aggregate spatial context beyond local perception. However, most existing…