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.
Generation of Uncertainty-Aware High-Level Spatial Concepts in Factorized 3D Scene Graphs via Graph Neural Networks
arXiv:2409. 11972v4 Announce Type: replace-cross Abstract: Enabling robots to autonomously discover high-level spatial concepts (e.
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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
Aug 11
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.
arXiv AI
Jun 2
Bridging the 2D-3D Gap: A Hierarchical Semantic-Geometric Map for Vision Language Navigation
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.
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
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.
arXiv AI
Jun 6
HomeWorld: A Unified Floorplan-to-Furnished Framework for Generating Controllable, Densely Interactive Whole-Home Scenes
arXiv:2606. 06390v1 Announce Type: cross Abstract: Indoor scene generation is crucial for robot simulation and modern interior design.
arXiv AI
Jun 2
PSG-Nav: Probabilistic Scene Graph Navigation via Multiverse Decision Making
arXiv:2606. 01313v1 Announce Type: cross Abstract: Open-vocabulary navigation requires embodied agents to manage significant perception uncertainty stemming from semantic ambiguity and model errors.
arXiv AI
Jun 11
Embodied-BenchClaw: An Autonomous Multi-Agent System for Embodied Spatial Intelligence Benchmark Construction
arXiv:2606. 11909v1 Announce Type: new Abstract: Benchmarks are essential for evaluating embodied spatial intelligence, yet their construction is labor-intensive, hard to reuse, and difficult to maintain.
arXiv AI
Jun 19
FlowMaps: Modeling Long-Term Multimodal Object Dynamics with Flow Matching
arXiv:2606. 20209v1 Announce Type: cross Abstract: Joint spatial and temporal understanding of 3D scenes is a crucial requirement for robots deployed in everyday household environments.
arXiv AI
Jul 16
HRO: Hierarchical Room-to-Object Framework for Zero-Shot Object Goal Navigation with Large Language Models
arXiv:2607. 13072v1 Announce Type: cross Abstract: Zero-shot object-goal navigation aims to enable an intelligent agent to explore and navigate to objects of unknown categories in an unfamiliar environment without specific target training.
Hugging Face Trending Papers
Jul 17
Beyond Frontiers: Scene-Anomaly Guided Autonomous Exploration
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.