4 papers · 1 filter
USS: Unified Spatial-Semantic Prompts for Embodied Visual Tracking with Latent Dynamics Learning
Yuchen Xie, Xinyu Zhou, Kuangji Zuo +4
Embodied Visual Tracking (EVT) requires an agent to continuously follow a specified target while actively moving through dynamic environments. However, prevailing EVT paradigms pre…
CompassAD: Intent-Driven 3D Affordance Grounding in Functionally Competing Objects
Jingliang Li, Jindou Jia, Tuo An +7
When told to "cut the cake," a robot must choose the knife over nearby scissors, despite both objects affording the same cutting function. In real-world scenes, multiple objects ma…
Diffusion as Reasoning: Enhancing Object Navigation via Diffusion Model Conditioned on LLM-based Object-Room Knowledge
Yiming Ji, Kaijie Yun, Yang Liu +4
The Object Navigation (ObjectNav) task aims to guide an agent to locate target objects in unseen environments using partial observations. Prior approaches have employed location pr…
NEDS-SLAM: A Neural Explicit Dense Semantic SLAM Framework using 3D Gaussian Splatting
Yiming Ji, Yang Liu, Guanghu Xie +2
We propose NEDS-SLAM, a dense semantic SLAM system based on 3D Gaussian representation, that enables robust 3D semantic mapping, accurate camera tracking, and high-quality renderin…