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

3D open-vocabulary scene understanding, crucial for advancing augmented reality and robotic applications, involves interpreting and locating specific regions within a 3D space as directed by natural language instructions. To this end, we…

Vision-Language Navigation (VLN) tasks require an agent to follow human language instructions to navigate in previously unseen environments. This challenging field involving problems in natural language processing, computer vision,…

3D semantic occupancy prediction is a pivotal task in autonomous driving, providing a dense and fine-grained understanding of the surrounding environment, yet single-modality methods face trade-offs between camera semantics and LiDAR…

3D semantic occupancy prediction is essential for achieving safe, reliable autonomous driving and robotic navigation. Compared to camera-only perception systems, multi-modal pipelines, especially LiDAR-camera fusion methods, can produce…

Vision-and-Language Navigation (VLN) is a task where an agent navigates in an embodied indoor environment under human instructions. Previous works ignore the distribution of sample difficulty and we argue that this potentially degrade their…

3D Gaussian Splatting has recently gained traction for its efficient training and real-time rendering. While its vanilla representation is mainly designed for view synthesis, recent works extended it to scene understanding with language…

Existing Vision-Language Navigation (VLN) task requires agents to follow verbose instructions, ignoring some potentially useful global spatial priors, limiting their capability to reason about spatial structures. Although human-readable…

Recently, the multi-modal fusion of RGB, depth, and semantics has shown great potential in dense Simultaneous Localization and Mapping (SLAM). However, a prerequisite for generating consistent semantic maps is the availability of dense,…

Vision-and-language navigation (VLN) is a key task in Embodied AI, requiring agents to navigate diverse and unseen environments while following natural language instructions. Traditional approaches rely heavily on historical observations as…

Recent embodied navigation approaches leveraging Vision-Language Models (VLMs) demonstrate strong generalization in versatile Vision-Language Navigation (VLN). However, reliable path planning in complex environments remains challenging due…

TL;DR: Gaussian Splatting is a widely adopted approach for 3D scene representation, offering efficient, high-quality reconstruction and rendering. A key reason for its success is the simplicity of representing scenes with sets of Gaussians,…

Text-to-3D scene generation from natural language is highly desirable for digital content creation. However, existing methods are largely domain-restricted or reliant on predefined spatial relationships, limiting their capacity for…

Applying Gaussian Splatting to perception tasks for 3D scene understanding is becoming increasingly popular. Most existing works primarily focus on rendering 2D feature maps from novel viewpoints, which leads to an imprecise 3D language…

This paper presents a novel approach to image-goal navigation by integrating 3D Gaussian Splatting (3DGS) with Visual Navigation Models (VNMs), a method we refer to as GSplatVNM. VNMs offer a promising paradigm for image-goal navigation by…

Despite recent advances in multimodal content generation enabled by vision-language models (VLMs), their ability to reason about and generate structured 3D scenes remains largely underexplored. This limitation constrains their utility in…

Embodied scene understanding requires not only comprehending visual-spatial information that has been observed but also determining where to explore next in the 3D physical world. Existing 3D Vision-Language (3D-VL) models primarily focus…

Holistic 3D scene understanding, which jointly models geometry, appearance, and semantics, is crucial for applications like augmented reality and robotic interaction. Existing feed-forward 3D scene understanding methods (e.g., LSM) are…

Robust humanoid locomotion requires accurate and globally consistent perception of the surrounding 3D environment. However, existing perception modules, mainly based on depth images or elevation maps, offer only partial and locally…

Vision and Language Navigation (VLN) is a challenging task that requires agents to understand instructions and navigate to the destination in a visual environment.One of the key challenges in outdoor VLN is keeping track of which part of…

Integrating large language models (LLMs) into embodied AI models is becoming increasingly prevalent. However, existing zero-shot LLM-based Vision-and-Language Navigation (VLN) agents either encode images as textual scene descriptions,…