Author

Abel Gawel

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Preprint Aug 2026

Prior-SG: Task and Prior Driven Region Segmentation for Scene Graphs in Arbitrarily-Structured Environments

Prior-SG achieves state-of-the-art semantic region segmentation accuracy compared to recent baselines, robustly delineates distant functional boundaries in the absence of physical walls, and uniquely provides zero-shot ontological flexibility, enabling the robot to entirely restructure its spatial partitioning based on a given high-level task.

G. Tonetti, Laurent Kneip, Abel Gawel et al. · 0 citations

Preprint Aug 2026

Vernata: Self-Supervised Learning of LiDAR Point Representations

Vernata is introduced, consisting of three extensions: sparse view augmentation to improve robustness against varying point densities, a memory bank mechanism to stabilize resource-constrained training, and cross-modal distillation utilizing dense, high-resolution 2D image features to enable fine-grained semantic guidance.

Oliver Lemke, Alexander Liniger, Abel Gawel et al. · 0 citations