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Constructing compact and informative 3D scene representations is essential for effective embodied exploration and reasoning, especially in complex environments over extended periods.
On the performance of bisecting k-means and pddp
Sergio M Savaresi and Daniel L Boley · 2001
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Scannet: Richly-annotated 3d reconstructions of indoor scenes
Angela Dai, Angel X. Chang, Manolis Savva, Maciej Halber, Thomas Funkhouser, and Matthias Nießner · 2017
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3d scene graph: A structure for unified semantics, 3d space, and camera
Iro Armeni, Zhi-Yang He, JunYoung Gwak, Amir R Zamir, Martin Fischer, Jitendra Malik, and Silvio Savarese · 2019
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Visual graphs from motion (vgfm): Scene understanding with object geometry reasoning
Paul Gay, James Stuart, and Alessio Del Bue · 2019
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3-d scene graph: A sparse and semantic representation of physical environments for intelligent agents
Ue-Hwan Kim, Jin-Man Park, Taek-Jin Song, and Jong-Hwan Kim · 2019
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Habitat: A Platform for Embodied AI Research
Manolis Savva, Abhishek Kadian, Oleksandr Maksymets, Yili Zhao, Erik Wijmans, Bhavana Jain, Julian Straub, Jia Liu, Vladlen Koltun, Jitendra Malik, Devi Parikh, and Dhruv Batra · 2019
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Learning 3d semantic scene graphs from 3d indoor reconstructions
Johanna Wald, Helisa Dhamo, Nassir Navab, and Federico Tombari · 2020
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Lora: Low-rank adaptation of large language models
Edward J Hu, Yelong Shen, Phillip Wallis, Zeyuan Allen-Zhu, Yuanzhi Li, Shean Wang, Lu Wang, and Weizhu Chen · 2021
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Learning transferable visual models from natural language supervision
Alec Radford, Jong Wook Kim, Chris Hallacy, Aditya Ramesh, Gabriel Goh, Sandhini Agarwal, Girish Sastry, Amanda Askell, Pamela Mishkin, Jack Clark, et al · 2021
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Habitat-matterport 3d dataset (hm3d): 1000 large-scale 3d environments for embodied ai
Santhosh K Ramakrishnan, Aaron Gokaslan, Erik Wijmans, Oleksandr Maksymets, Alex Clegg, John Turner, Eric Undersander, Wojciech Galuba, Andrew Westbury, Angel X Chang, et al · 2021
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Kimera: From slam to spatial perception with 3d dynamic scene graphs
Antoni Rosinol, Andrew Violette, Marcus Abate, Nathan Hughes, Yun Chang, Jingnan Shi, Arjun Gupta, and Luca Carlone · 2021
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Habitat 2.0: Training home assistants to rearrange their habitat
Andrew Szot, Alex Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimir Vondrus, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, and Dhruv Batra · 2021
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Scenegraphfusion: Incremental 3d scene graph prediction from rgb-d sequences
Shun-Cheng Wu, Johanna Wald, Keisuke Tateno, Nassir Navab, and Federico Tombari · 2021
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3d concept grounding on neural fields
Yining Hong, Yilun Du, Chunru Lin, Josh Tenenbaum, and Chuang Gan · 2022
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Hydra: A real-time spatial perception system for 3d scene graph construction and optimization
Nathan Hughes, Yun Chang, and Luca Carlone · 2022
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Topological Semantic Graph Memory for Image Goal Navigation
Nuri Kim, Obin Kwon, Hwiyeon Yoo, Yunho Choi, Jeongho Park, and Songhawi Oh · 2022
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Blip: Bootstrapping language-image pre-training for unified vision-language understanding and generation
Junnan Li, Dongxu Li, Caiming Xiong, and Steven Hoi · 2022
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Zson: Zero-shot object-goal navigation using multimodal goal embeddings
Arjun Majumdar, Gunjan Aggarwal, Bhavika Devnani, Judy Hoffman, and Dhruv Batra · 2022
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Clip-fields: Weakly supervised semantic fields for robotic memory
Nur Muhammad Mahi Shafiullah, Chris Paxton, Lerrel Pinto, Soumith Chintala, and Arthur Szlam · 2022
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Pla: Language-driven open-vocabulary 3d scene understanding
Runyu Ding, Jihan Yang, Chuhui Xue, Wenqing Zhang, Song Bai, and Xiaojuan Qi · 2023
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Vl-fields: Towards language-grounded neural implicit spatial representations
Nikolaos Tsagkas, Oisin Mac Aodha, and Chris Xiaoxuan Lu · 2023
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Clip-fo3d: Learning free open-world 3d scene representations from 2d dense clip
Junbo Zhang, Runpei Dong, and Kaisheng Ma · 2023
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Spatialvlm: Endowing vision-language models with spatial reasoning capabilities
Boyuan Chen, Zhuo Xu, Sean Kirmani, Brain Ichter, Dorsa Sadigh, Leonidas Guibas, and Fei Xia · 2024
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Lowis3d: Language-driven open-world instance-level 3d scene understanding
Runyu Ding, Jihan Yang, Chuhui Xue, Wenqing Zhang, Song Bai, and Xiaojuan Qi · 2024
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Conceptgraphs: Open-vocabulary 3d scene graphs for perception and planning
Qiao Gu, Ali Kuwajerwala, Sacha Morin, Krishna Murthy Jatavallabhula, Bipasha Sen, Aditya Agarwal, Corban Rivera, William Paul, Kirsty Ellis, Rama Chellappa, Chuang Gan, Celso Miguel de Melo, Joshua B. Tenenbaum, Antonio Torralba, Florian Shkurti, and Liam Paull · 2024
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Robohop: Segment-based topological map representation for open-world visual navigation
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3d-llm: Injecting the 3d world into large language models
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An embodied generalist agent in 3d world
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Conceptfusion: Open-set multimodal 3d mapping
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Visual instruction tuning, 2023
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 2023
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Feature-realistic neural fusion for real-time, open set scene understanding
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Open-fusion: Real-time open-vocabulary 3d mapping and queryable scene representation
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Navid: Video-based vlm plans the next step for vision-and-language navigation
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Segment everything everywhere all at once
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