DGSG-Mind introduces a hybrid instance-aware 3D Gaussian dynamic scene graph system that integrates open‑vocabulary semantic information into dynamic 3D scene representations. By coupling a probabilistic voxel grid with explicit 3D Gaussians, it achieves robust cross‑modal instance fusion, incremental semantic mapping, and dynamic change handling through Gaussian‑based relocalization and masked refinement. The system builds a hierarchical scene graph and a 3D Gaussian Mind for multimodal reasoning, achieving state‑of‑the‑art zero‑shot 3D visual grounding and strong performance in open‑vocabulary semantic segmentation and scene reconstruction, and is demonstrated on real‑world robots.
By Luzhou Ge, Xiangyu Zhu, Jinyan Liu, Xuesong Li
arXiv:2608. 19900v1 Announce Type: new Abstract: For full-body avatars, modeling surface dynamics is crucial for overcoming the uncanny valley and achieving perceptual realism.
By Guoxing Sun, Heming Zhu, Linjie Lyu, Pascal Fua, Christian Theobalt, Marc Habermann
3D Gaussian Splatting has achieved remarkable success in photorealistic and efficient rendering, leading to a rapid increase in 3D assets represented by 3D Gaussian primitives. Directly rigging these assets with arbitrary skeleton topologies is highly desirable.
For full-body avatars, modeling surface dynamics is crucial for overcoming the uncanny valley and achieving perceptual realism. Person-agnostic methods recover static 3D avatars from monocular images, videos, or text prompts, but their skeleton-driven animations lack realistic surface dynamics such as clothing wrinkles.
arXiv:2606. 30645v1 Announce Type: cross Abstract: Perception-based humanoid loco-manipulation requires connecting egocentric observations and task instructions to whole-body motion.
By Yen-Jen Wang, Jiaman Li, Sirui Chen, Takara E. Truong, Pei Xu, Pieter Abbeel, Rocky Duan, Koushil Sreenath, Angjoo Kanazawa, Carmelo Sferrazza, Guanya Shi, Karen Liu
arXiv:2608.30935v1 Announce Type: cross
Abstract: Embodied navigation requires agents to translate heterogeneous goals and visual observations into actions across tasks, environments, and robot embod...
By Shaoan Wang, Aocheng Luo, Fei Huang, Jingyi Xu, Xiaoyang Wang, Yueyu Wang, Qianli Ma, Fan Yang, Ran Mei, Jia Wei, Jiangpeng Hu, Xuhao Liu, Hongming Chen, Yuanbin Shao, Yiyang Lin, Ziliang Li, Liang Pan, Xinhang Liu, Yuntao Ma, Tingxiang Fan
arXiv:2605.12957v2 Announce Type: replace
Abstract: Recent developments in generative models and large-scale datasets have substantially advanced 3D world generation, facilitating a broad range of do...
By Hanxin Zhu, Cong Wang, Peiyan Tu, Jiayi Luo, Tianyu He, Xin Jin, Zhibo Chen
arXiv:2606. 31919v1 Announce Type: cross Abstract: Zero-shot Object Goal Navigation (ZSON) with RGB-only perception poses a fundamental challenge for embodied agents, as the absence of explicit depth information introduces severe physical uncertainty and semantic-physical misalignment.
By Wenyuan Xie, Shaokai Wu, Yijin Zhou, Yanbiao Ji, Guodong Zhang, Bayram Bayramli, Qiuchang Li, Xunchu Zhou, Yue Ding, Hongtao Lu
arXiv:2607. 00832v1 Announce Type: cross Abstract: A single panorama captures the full visual sphere from one camera center, yet confines users to looking around in place without enabling true scene exploration.
By Zhenjia Li, Jinrang Jia, Yifeng Shi
ZimaBlue is a scalable framework that learns generalizable World Action Models (WAMs) from large-scale egocentric videos. It follows a three-stage curriculum: causal video pre‑training, video‑action mid‑training with a unified action representation, and final specialization to a target robot. The system employs an asynchronous Slow‑Fast architecture to enable real‑time 30 Hz action prediction, achieving a jump in real‑robot zero‑shot success from 36.1% to 77.8% when leveraging over 120,000 hours of embodied video.
By Xionghao Wu, Yijun Yang, Shiyang Zhou, Haoze Sun, Jianhui Liu, Songsong Yu, Jiyao Zhang, Wenbo Li, Bo Wang, Guoqing Ma, Lin Song, Renjie Liao, Shenghe Zheng, Wei Tang, Xiaojuan Qi, Yanwei Li, Yuan Zhang, Zhuotao Tian, Haoyang Huang, Nan Duan
arXiv:2603. 03953v2 Announce Type: replace-cross Abstract: Safe visual navigation is critical for indoor mobile robots operating in cluttered environments.
By Jaewon Lee, Jaeseok Heo, Gunmin Lee, Howoong Jun, Jeongwoo Oh, Songhwai Oh
Driving World Models (DWMs) have recently advanced rapidly with generative models, yet most existing methods mainly focus on conditional scene generation and lack explicit 3D scene understanding, lang...