arXiv AI
Jun 8
SCOUT: Semantic scene COverage via Uncertainty-guided Traversal
arXiv:2606. 06721v1 Announce Type: cross Abstract: Robots that operate over extended periods should not merely visit space; they should progressively understand it.
RAG-3DSG: Enhancing 3D Scene Graphs with Re-Shot Guided Retrieval-Augmented Generation
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.
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arXiv AI
Jul 2
DeWorldSG: Depth-Aware 3D Semantic Scene Graph Generation via World-Model Priors
arXiv:2607. 00889v1 Announce Type: cross Abstract: We present DeWorldSG, a novel framework that generates spatio-temporally robust 3D Semantic Scene Graphs from RGB-D sequences.
Hugging Face Trending Papers
Jun 23
Compact Object-Level Representations with Open-Vocabulary Understanding for Indoor Visual Relocalization
Indoor visual relocalization plays a critical role in emerging spatial and embodied AI applications. However, prior research was predominantly devoted to low-level vision schemes, struggling to perceive scene semantics and compositions, which limits both interpretability and applicability.
arXiv AI
Jun 8
MatterDoor: Sampling Zero-shot Spatio-semantic Priors using Generative Models
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.
Hugging Face Trending Papers
Jun 2
EvoMemNav: Efficient Self-Evolving Fine-Grained Memory for Zero-Shot Embodied Navigation
Building memory is essential for long-horizon planning in zero-shot embodied navigation. Detector-centric scene graphs often compress observations into sparse nodes, discarding fine-grained visual evidence and accumulating noise, while 3D reconstruction-based methods remain computationally prohibitive.
arXiv AI
Jul 1
MVP-Nav: Multi-layer Value Map Planner Navigator
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.
Hugging Face Trending Papers
Aug 6
Prior-SG: Task and Prior Driven Region Segmentation for Scene Graphs in Arbitrarily-Structured Environments
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 AI
6d ago
CORE-3D: Context-aware Open-vocabulary Retrieval by Embeddings in 3D
arXiv:2509. 24528v4 Announce Type: replace-cross Abstract: Object retrieval from a scene has become a new trend of research due to its numerous applications.
Hugging Face Trending Papers
Jul 8
PUF: Plug-and-Play Uncertainty-Aware Fusion for Online 3D Scene Graph Generation
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 AI
Aug 3
AREA3D: Active Reconstruction Agent with Unified Feed-Forward 3D Perception and Vision-Language Guidance
arXiv:2512. 05131v2 Announce Type: replace-cross Abstract: Active 3D reconstruction enables an agent to autonomously select viewpoints to efficiently obtain accurate and complete scene geometry, rather than passively reconstructing scenes from pre-collected images.
Hugging Face Trending Papers
Jul 30
MonoVoc: Decoupling Geometry and Semantics for Lightweight Monocular Open-Vocabulary 3D Gaussians
Open vocabulary 3D scene understanding is essential for next-generation interactive systems, empowering users to intuitively query and navigate reconstructed environments using natural language. However, current 3D Gaussian frameworks are often bottlenecked by restrictive multiview capture requirements, costly scene-specific optimization, and the massive memory overhead of storing dense language features.
arXiv AI
Jul 2
Interact3D: Compositional 3D Generation of Interactive Objects
arXiv:2603. 16085v2 Announce Type: replace-cross Abstract: Recent breakthroughs in 3D generation have enabled the synthesis of high-fidelity individual assets.