4 papers
A Scene Language Model for Open-Vocabulary Scene Mapping
Adam Lilja, Fabio Hübel, Siming He +6
Open-vocabulary 3D scene mapping aims to build a persistent representation of the objects in an environment. Existing systems typically rely on engineered mapping pipelines to asso…
FARM: Find Anything using Relational Spatial Memory
Siming He, Leo Huang, Adam Lilja +6
Robots operating in homes, warehouses, and other object-rich environments need memory systems that can find specific object instances on demand. Object-level memory alone is often…
From NeRFs to Gaussian Splats, and Back
Siming He, Zach Osman, Pratik Chaudhari
For robotics applications where there is a limited number of (typically ego-centric) views, parametric representations such as neural radiance fields (NeRFs) generalize better than…
An Active Perception Game for Robust Exploration
Siming He, Yuezhan Tao, Igor Spasojevic +2
Active perception approaches select future viewpoints by using some estimate of the information gain. An inaccurate estimate can be detrimental in critical situations, e.g., locati…