Topology-aware attention over hierarchical scene graphs lets a 3D-LLM ground, caption, and answer questions across multi-room homes, with large gains on a new HM3D benchmark.
Hier- archical open-vocabulary 3d scene graphs for language-grounded robot navigation
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CAIRN: Cross-Room 3D Scene Understanding with Topology-Aware Large Multimodal Models
Topology-aware attention over hierarchical scene graphs lets a 3D-LLM ground, caption, and answer questions across multi-room homes, with large gains on a new HM3D benchmark.