Author

Jaesung Choe

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Preprint Sep 2026

Beyond the Current Scene: Event-Referential Grasping with Active View Selection

A robot that observes people interacting with objects should be able to carry out later requests that refer back to those interactions. Such requests may specify a grasp target by the role it played in a past event rather than by its name or appearance. Moreover, the target may no longer be visible when the robot is as...

Hyunjoon Lee, Haebeom Jung, E. Cha et al. · 0 citations

#artificial intelligence Preprint Oct 2026

RelationVGGT: Visual Geometry Transformers for 3D Spatial Relation Segmentation

Recent advances in 3D reconstruction have progressed from per-scene optimization to feed-forward inference, and semantic scene understanding has followed suit -- yet existing methods remain confined to object-centric perception, neglecting spatial relations between objects. We formulate 3D spatial relation segmentation...

Minsu Kim, Jaesung Choe, J. Lee et al. · 0 citations