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.

By Yue Chang, Rufeng Chen, Zhaofan Zhang, Yi Chen, Yifan Tian, Sihong Xie
Hugging Face Trending Papers
Aug 3

SpatialQuery: Benchmarking Geometry-Grounded Multi-Instance Spatial Reasoning in Vision-Language Models

Vision-language models (VLMs) achieve strong semantic understanding but remain unreliable in metric spatial reasoning, particularly when queries require comparing multiple instances of the same object category. We study this problem through the Closest-Instance Distance Query (CIDQ), where a model must identify the nearest visible candidate to a unique reference object and estimate their gravity-aligned floor-plane distance.

arXiv Computer Vision
6d ago

GraphWrit3R: End-to-End 3D Scene Graph Writing

arXiv:2609.31595v1 Announce Type: new Abstract: 3D scene graphs provide a structured representation of complex environments by encoding objects, their semantic attributes, and the spatial and functio...

By Luka Milivojevic, Nikola Popovic, Sayan Deb Sarkar, Sebastian Koch, Iro Armeni, Luc Van Gool, Danda Pani Paudel