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Rendering-Free Lookahead for Question-Guided Active Vision
Koya Sakamoto, Daichi Azuma, Shuhei Kurita +4
Active robot vision requires controlling the camera to reveal task-relevant information that is hidden from the current viewpoint. For example, determining what is inside a box may…
E3VS-Bench: A Benchmark for Viewpoint-Dependent Active Perception in 3D Gaussian Splatting Scenes
Koya Sakamoto, Taiki Miyanishi, Daichi Azuma +6
Visual search in 3D environments requires embodied agents to actively explore their surroundings and acquire task-relevant evidence. However, existing visual search and embodied AI…
GeoProg3D: Compositional Visual Reasoning for City-Scale 3D Language Fields
Shunsuke Yasuki, Taiki Miyanishi, Nakamasa Inoue +5
The advancement of 3D language fields has enabled intuitive interactions with 3D scenes via natural language. However, existing approaches are typically limited to small-scale envi…
Answerability Fields: Answerable Location Estimation via Diffusion Models
Daichi Azuma, Taiki Miyanishi, Shuhei Kurita +2
In an era characterized by advancements in artificial intelligence and robotics, enabling machines to interact with and understand their environment is a critical research endeavor…
CityNav: A Large-Scale Dataset for Real-World Aerial Navigation
Jungdae Lee, Taiki Miyanishi, Shuhei Kurita +4
Vision-and-language navigation (VLN) aims to develop agents capable of navigating in realistic environments. While recent cross-modal training approaches have significantly improve…