5 papers
EmbodiedLGR: Integrating Lightweight Graph Representation and Retrieval for Semantic-Spatial Memory in Robotic Agents
Paolo Riva, Leonardo Gargani, Matteo Frosi +1
As the world of agentic artificial intelligence applied to robotics evolves, the need for agents capable of building and retrieving memories and observations efficiently is increas…
SGR-OCC: Evolving Monocular Priors for Embodied 3D Occupancy Prediction via Soft-Gating Lifting and Semantic-Adaptive Geometric Refinement
Yiran Guo, Simone Mentasti, Xiaofeng Jin +2
3D semantic occupancy prediction is a cornerstone for embodied AI, enabling agents to perceive dense scene geometry and semantics incrementally from monocular video streams. Howeve…
R3-RECON: Radiance-Field-Free Active Reconstruction via Renderability
Xiaofeng Jin, Matteo Frosi, Yiran Guo +1
In active reconstruction, an embodied agent must decide where to look next to efficiently acquire views that support high-quality novel-view rendering. Recent work on active view p…
OpenFusion++: An Open-vocabulary Real-time Scene Understanding System
Xiaofeng Jin, Matteo Frosi, Matteo Matteucci
Real-time open-vocabulary scene understanding is essential for efficient 3D perception in applications such as vision-language navigation, embodied intelligence, and augmented real…
Rendering Anywhere You See: Renderability Field-guided Gaussian Splatting
Xiaofeng Jin, Yan Fang, Matteo Frosi +3
Scene view synthesis, which generates novel views from limited perspectives, is increasingly vital for applications like virtual reality, augmented reality, and robotics. Unlike ob…