Abstract: Weakly supervised 3D semantic segmentation has proven effective in alleviating the heavy dependence on dense annotations by generating high-quality pseudo-labels. However, due to the scene ...

Abstract: The concept of 3D scene graphs is increasingly recognized as a powerful semantic and hierarchical representation of the environment. Current approaches often address this at a coarse, object ...

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 ...