We propose a zero-shot object-goal navigation framework by constructing an online 3D scene graph to prompt LLMs. Our method can be directly applied to different kinds of scenes and categories without ...

MMGDreamer is a dual-branch diffusion model for scene generation that incorporates a novel Mixed-Modality Graph, visual enhancement module, and relation predictor. Feel free to contact Zhifei Yang ...

Abstract: For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and planning.

Abstract: We introduce the task of predicting functional 3D scene graphs for real-world indoor environments from posed RGB-D images. Unlike traditional 3D scene graphs that focus on spatial ...