3D Gaussian Splatting (3DGS) can reconstruct a captured scene photorealistically, but the resulting representation does not by itself support physical interaction. Robot simulation instead requires object-level change, \textit{i.e.}, objects must move independently, make contact, and reveal previously occluded surround...
Run-Yi Yang, De-Heng Zhang, Xiao-Ye Wang et al.· 0 citations
Standard information retrieval metrics, such as mean Average Precision (mAP), assess performance one query at a time, based on how the similarities between a query and its positives compare against those with its negatives. The same holds for common representation learning losses, such as InfoNCE and per-query AP surro...
Bill Psomas, Mohammad Mahdi, Michalis Thomas et al.· 0 citations
Referring scene understanding for embodied robots requires grounding object- and relation-centric language queries from a designated viewpoint. While a local semantic Gaussian map can support such grounding within one agent's observations, cooperative settings require this ability to remain effective after independentl...
Zhi-Kun Zhou, Kun-Yu Peng, Run-Yi Yang et al.· 0 citations
Generalist multitasking vision models aim to unify multiple vision tasks within a single framework, enabling more efficient and versatile learning. However, handling diverse vision tasks -- spanning dense and sparse predictions -- remains challenging due to their inherently varying output structures. In this paper, we...
Mohammad Mahdi, Nedyalko Prisadnikov, Yu-Qian Fu et al.· 0 citations
Reinforcement learning based post training of diffusion models, such as Denoising Diffusion Policy Optimization (DDPO), optimizes a reverse diffusion process under a reward function. However, current approaches to reward optimizations do so at the cost of diversity and quality. In this paper, we provide better tradeoff...
Ego-Forge is a caption-free and bias-free framework for exo-to-egocentric video generation that achieves state-of-the-art performance on Ego-Exo4D, runs faster end-to-end, requires no external annotation at inference, and generalizes to in-the-wild scenes, including cases where over-reliance on geometry blocks appearan...
EgoGears, a complementary single- and multi-video benchmark designed to diagnose this transition inodied systems, is introduced and 29 single-video and 31 multi-video MLLM configurations across six model families in the main leaderboard are reported.
Yue-Dong Tan, Lei-Tao Qi, Yu Liu et al.· 0 citations
This work presents GraphWrit3R, a simple end-to-end method that takes a 3D point cloud, Gaussian Splats, or a combination of both as input, and directly outputs a complete scene graph as a structured JSON script, achieving state-of-the-art performance on object class, predicate, and triplet recall on the 3DSSG benchmar...
Luka Milivojevic, Nikola Popovic, Sayan Deb Sarkar et al.· 0 citations
iARCS is presented, an iterative agentic reinforcement learning framework that adapts a pretrained scene generator to naturallanguage task requirements and shows that data generated by iARCS improves a base generator, supporting its value as a practical synthetic data generation tool rather than only a controllable sce...
Recent 4D LiDAR language models aim to reason about objects and their evolving spatial relationships. Yet, in our evaluation, always selecting the same option nearly matches the multiple-choice accuracy of two B4DL-derived configurations. We introduce LiDAR-Hallu, a geometry-referenced benchmark and diagnostic protocol...
Run-Yi Yang, Murat Akkoyun, Di Wen et al.· 0 citations
This work introduces Mixture-of-Experts for Communication-Aware Incremental Learning (MECAIL), the first method that meets this strict requirement, in which each new domain or environment is served by a small expert network that adapts the base model.
Matthias Neuwirth-Trapp, Maarten Bieshaar, D. Paudel et al.· 0 citations
SceneBench is introduced, a benchmark of 966 photorealistic 3D scenes reconstructed with Gaussian Splatting and densely annotated with hierarchical semantics spanning scenes, rooms, functional areas, object groups, and individual objects that provides a realistic testbed for developing and evaluating models capable of...
Anubhav Khanal, Prabigya Acharya, Roshni Poudel et al.· 0 citations
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