arXiv subjects

Xujia Zhang

Publications and source records attributed to Xujia Zhang.

4 recordsLinked to original sources

arXiv2026

SceneGraphGrounder: Zero-Shot 3D Visual Grounding via Structured Scene Graph Matching

Zero-shot 3D visual grounding requires localizing objects in unstructured environments from free-form natural language. Recent vision-language model (VLM) approaches achieve promising results but rely on view-dependent reasoning or implicit representations, limiting spatial consistency and interpretability for compositional queries. We propose SceneGraphGrounder, a framework that reformulates 3D grounding as structured graph matching over a reconstructed 3D scene graph. To enable this formulation, we introduce a visual marker prompting strategy that enables a VLM to infer object-object relationships from 2D views, which are subsequently lifted into a persistent 3D scene graph encoding both spatial and semantic relations. Given a query, we construct a query graph and perform constrained alignment with the scene graph, ensuring multi-view consistency and interpretable reasoning. Experiments on the ScanRefer benchmark demonstrate that our method achieves competitive performance among zero-shot approaches, using only RGB-D inputs. We further validate our framework through real-world deployment on a mobile robot, demonstrating robust spatial reasoning in long-horizon physical environments. We will make our code publicly available upon acceptance.

cs.CV↗

arXiv2025

Octree Diffusion for Semantic Scene Generation and Completion

The completion, extension, and generation of 3D semantic scenes are an interrelated set of capabilities that are useful for robotic navigation and exploration. Existing approaches seek to decouple these problems and solve them one-off. Additionally, these approaches are often domain-specific, requiring separate models for different data distributions, e.g.\ indoor vs.\ outdoor scenes. To unify these techniques and provide cross-domain compatibility, we develop a single framework that can perform scene completion, extension, and generation in both indoor and outdoor scenes, which we term Octree Latent Semantic Diffusion. Our approach operates directly on an efficient dual octree graph latent representation: a hierarchical, sparse, and memory-efficient occupancy structure. This technique disentangles synthesis into two stages: (i) structure diffusion, which predicts binary split signals to construct a coarse occupancy octree, and (ii) latent semantic diffusion, which generates semantic embeddings decoded by a graph VAE into voxel-level semantic labels. To perform semantic scene completion or extension, our model leverages inference-time latent inpainting, or outpainting respectively. These inference-time methods use partial LiDAR scans or maps to condition generation, without the need for retraining or finetuning. We demonstrate high-quality structure, coherent semantics, and robust completion from single LiDAR scans, as well as zero-shot generalization to out-of-distribution LiDAR data. These results indicate that completion-through-generation in a dual octree graph latent space is a practical and scalable alternative to regression-based pipelines for real-world robotic perception tasks.

cs.CV↗

arXiv2023

Toward Optimal Tabletop Rearrangement with Multiple Manipulation Primitives

In practice, many types of manipulation actions (e.g., pick-n-place and push) are needed to accomplish real-world manipulation tasks. Yet, limited research exists that explores the synergistic integration of different manipulation actions for optimally solving long-horizon task-and-motion planning problems. In this study, we propose and investigate planning high-quality action sequences for solving long-horizon tabletop rearrangement tasks in which multiple manipulation primitives are required. Denoting the problem rearrangement with multiple manipulation primitives (REMP), we develop two algorithms, hierarchical best-first search (HBFS) and parallel Monte Carlo tree search for multi-primitive rearrangement (PMMR) toward optimally resolving the challenge. Extensive simulation and real robot experiments demonstrate that both methods effectively tackle REMP, with HBFS excelling in planning speed and PMMR producing human-like, high-quality solutions with a nearly 100% success rate.

cs.RO↗

arXiv2023

Experimental observation of Kerr-Raman solitons in a normal-dispersion FP resonator

Different from the Kerr effect,stimulated Raman scattering (SRS) is a delayed response to molecular vibrations in materials. In microcavities, when driven in an anomalous group velocity dispersion (GVD) regime, SRS typically leads to self-frequency shift of solitons and generation of breather solitons which have been verified both theoretically and experimentally. However, when driven in a normal GVD regime, recent theoretical work predicts that SRS can cause the locking of switching waves (SWs) and thus support bright moving localized structures (LSs), which we term as Kerr-Raman solitons (KRSs). Limited by the design of suitable experimental parameters, experimental observation of the KRSs is not achieved yet. Here, we provide numerical investigation, and to our knowledge, the first experimental observation of these SRS enabled KRSs in a fiber Fabry-Perot (FP) resonator with ultra-low normal GVD. Such Kerr-Raman solitons exhibit localized temporal features with strong oscillations at ~13 THz local frequency on the top of a flat-top pulse. The corresponding spectrum is a low-noise and broadband Kerr comb with typical platicon-like spectrum in the center and two Raman Stokes and anti-Stokes peaks located near 13 THz away from the center. With such SRS enabled broadband Kerr comb, we have achieved a KRS spectrum with a repetition rate of ~3.68 GHz and a -40 dB spectral width of 260 nm. The corresponding comb tooth count is >9000, covering the S+C+L telecommunication bands. Moreover, the formation process of such KRSs is also revealed, and it is found that the GVD plays a key role in its generation. Our work will help to advance the study of the dynamics of optical frequency combs under the influence of SRS, as well as providing a broadband coherent mode-locked optical source for wide applications.

physics.optics↗