arXiv:2606. 06721v1 Announce Type: cross Abstract: Robots that operate over extended periods should not merely visit space; they should progressively understand it.
Hierarchical 3D scene graphs are a promising representation for high-level spatial reasoning in autonomous mobile platforms. However, existing extraction frameworks typically rely on purely local visual clustering or strict geometric heuristics, such as wall-separated rooms, which fail in open-plan or arbitrarily-structured environments.
arXiv:2601. 10168v3 Announce Type: replace-cross Abstract: Open-vocabulary 3D Scene Graph (3DSG) can enhance various downstream tasks in robotics by leveraging structured semantic representations, yet current 3DSG construction methods suffer from semantic inconsistencies caused by noisy cross-image aggregation under occlusions and constrained viewpoints.
arXiv:2409. 11972v4 Announce Type: replace-cross Abstract: Enabling robots to autonomously discover high-level spatial concepts (e.
Autonomous exploration of unknown 3D environments is traditionally driven by coverage-maximizing geometric heuristics. However, these methods typically determine exploration targets without considering the underlying structural context.
arXiv:2510. 11014v2 Announce Type: replace-cross Abstract: Autonomous robots often view rooms only partially, through a doorway, where the walls and scene structure hide the geometry and task-relevant semantics needed for safe navigation and goal-directed action.
arXiv:2512. 21201v3 Announce Type: replace-cross Abstract: Zero-shot object navigation (ZSON) requires robots to find target objects in unseen environments without task-specific fine-tuning or pre-built maps, a key capability for general-purpose service robots.
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.
arXiv:2606. 00095v1 Announce Type: cross Abstract: Vision-Language Navigation (VLN) enables embodied agents to reach target locations in unseen environments by following language instructions.
Online 3D scene graph generation builds a persistent, structured representation of a scene by incrementally fusing 2D observations into a global 3D graph. Existing online methods treat this fusion as a fully deterministic pipeline, where we identify three sources of uncertainty that are overlooked: observation, 2D model, and 3D representation.
arXiv:2606. 04226v1 Announce Type: cross Abstract: Simulation environments are useful for both robot policy learning and planning verification and validation.
arXiv:2608. 07079v1 Announce Type: cross Abstract: Object-goal navigation has made substantial progress in semantic perception and exploration, yet persistent memory for multi-object navigation and cross-floor navigation are still commonly addressed separately.
arXiv:2606. 14879v1 Announce Type: cross Abstract: Mobile agents require efficient exploration strategies to map unseen environments and autonomously plan tasks.