相关论文: 3D Gaussian Map with Open-Set Semantic Grouping fo…

Bridging natural language and 3D geometry is a crucial step toward flexible, language-driven scene understanding. While recent advances in 3D Gaussian Splatting (3DGS) have enabled fast and high-quality scene reconstruction, research has…

Recently, distilling open-vocabulary language features from 2D images into 3D Gaussians has attracted significant attention. Although existing methods achieve impressive language-based interactions of 3D scenes, we observe two fundamental…

Existing aerial Vision-Language Navigation (VLN) methods predominantly adopt a detection-and-planning pipeline, which converts open-vocabulary detections into discrete textual scene graphs. These approaches are plagued by inadequate spatial…

Vision Language Navigation (VLN) typically requires agents to navigate to specified objects or remote regions in unknown scenes by obeying linguistic commands. Such tasks require organizing historical visual observations for linguistic…

The recent Gaussian Splatting achieves high-quality and real-time novel-view synthesis of the 3D scenes. However, it is solely concentrated on the appearance and geometry modeling, while lacking in fine-grained object-level scene…

Being able to perceive the semantics and the spatial structure of the environment is essential for visual navigation of a household robot. However, most existing works only employ visual backbones pre-trained either with independent images…

Zero-shot Vision-and-Language Navigation (VLN) agents leveraging Large Language Models (LLMs) excel in generalization but suffer from insufficient spatial perception. Focusing on complex continuous environments, we categorize key perceptual…

Generating 3D scenes from natural language holds great promise for applications in gaming, film, and design. However, existing methods struggle with automation, 3D consistency, and fine-grained control. We present DreamScene, an end-to-end…

Building semantic 3D maps is valuable for searching for objects of interest in offices, warehouses, stores, and homes. We present a mapping system that incrementally builds a Language-Embedded Gaussian Splat (LEGS): a detailed 3D scene…

Future 3D semantic occupancy forecasting and motion planning are central to autonomous driving, as they require models to reason about how surrounding scenes evolve and how the ego vehicle should act. Existing occupancy world models…

We present LiV-GS, a LiDAR-visual SLAM system in outdoor environments that leverages 3D Gaussian as a differentiable spatial representation. Notably, LiV-GS is the first method that directly aligns discrete and sparse LiDAR data with…

Despite large-scale pretraining endowing models with language and vision reasoning capabilities, improving their spatial reasoning capability remains challenging due to the lack of data grounded in the 3D world. While it is possible for…

3D semantic occupancy prediction has become a crucial perception task for comprehensive scene understanding in autonomous driving. While recent advances have explored 3D Gaussian splatting for occupancy modeling to substantially reduce…

Vision-language-action (VLA) policies have advanced language-conditioned robotic manipulation by transferring semantic priors from pretrained vision-language models to action generation. However, standard action-imitation learning often…

This paper introduces Scene-LLM, a 3D-visual-language model that enhances embodied agents' abilities in interactive 3D indoor environments by integrating the reasoning strengths of Large Language Models (LLMs). Scene-LLM adopts a hybrid 3D…

Recent advancements in camera-based occupancy prediction have focused on the simultaneous prediction of 3D semantics and scene flow, a task that presents significant challenges due to specific difficulties, e.g., occlusions and unbalanced…

Understanding 3D scenes is pivotal for autonomous driving, robotics, and augmented reality. Recent semantic Gaussian Splatting approaches leverage large-scale 2D vision models to project 2D semantic features onto 3D scenes. However, they…

Vision-and-Language Navigation (VLN) task aims to enable AI agents to accurately understand and follow natural language instructions to navigate through real-world environments, ultimately reaching specific target locations. We recognise a…

3D Gaussian Splatting (3DGS) has emerged as a powerful representation for neural scene reconstruction, offering high-quality novel view synthesis while maintaining computational efficiency. In this paper, we extend the capabilities of 3DGS…

Existing Vision-Language Navigation (VLN) methods primarily focus on single-stage navigation, limiting their effectiveness in multi-stage and long-horizon tasks within complex and dynamic environments. To address these limitations, we…