Related papers: VL-Fields: Towards Language-Grounded Neural Implic…
Recently, groundbreaking results have been presented on open-vocabulary semantic image segmentation. Such methods segment each pixel in an image into arbitrary categories provided at run-time in the form of text prompts, as opposed to a…
We propose CLIP-Fields, an implicit scene model that can be used for a variety of tasks, such as segmentation, instance identification, semantic search over space, and view localization. CLIP-Fields learns a mapping from spatial locations…
Vision-language models (VLMs) excel in visual understanding but often lack reliable grounding capabilities and actionable inference rates. Integrating them with open-vocabulary object detection (OVD), instance segmentation, and tracking…
Vision language models (VLMs) are AI systems paired with both language and vision encoders to process multimodal input. They are capable of performing complex semantic tasks such as automatic captioning, but it remains an open question…
Recently, methods have been proposed for 3D open-vocabulary semantic segmentation. Such methods are able to segment scenes into arbitrary classes based on text descriptions provided during runtime. In this paper, we propose to the best of…
Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…
The global rise in the number of people with physical disabilities, in part due to improvements in post-trauma survivorship and longevity, has amplified the demand for advanced assistive technologies to improve mobility and independence.…
One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…
Vision-Language-Action (VLA) models have emerged as a promising framework for enabling generalist robots capable of perceiving, reasoning, and acting in the real world. These models usually build upon pretrained Vision-Language Models…
Implicit fields have recently shown increasing success in representing and learning 3D shapes accurately. Signed distance fields and occupancy fields are decades old and still the preferred representations, both with well-studied…
Spatial intelligence requires visual representations that capture both semantic objects and geometric structure in the physical world. To support this, two major pre-training schemes are now widely used as foundation backbones:…
Online construction of open-ended language scenes is crucial for robotic applications, where open-vocabulary interactive scene understanding is required. Recently, neural implicit representation has provided a promising direction for online…
Reasoning about spatial relationships between objects is essential for many real-world robotic tasks, such as fetch-and-delivery, object rearrangement, and object search. The ability to detect and disambiguate different objects and identify…
Vision-language (VL) pre-training has recently gained much attention for its transferability and flexibility in novel concepts (e.g., cross-modality transfer) across various visual tasks. However, VL-driven segmentation has been…
Vision language models (VLMs) are designed to extract relevant visuospatial information from images. Some research suggests that VLMs can exhibit humanlike scene understanding, while other investigations reveal difficulties in their ability…
Vision-and-Language Navigation (VLN) has long been constrained by the limited diversity and scalability of simulator-curated datasets, which fail to capture the complexity of real-world environments. To overcome this limitation, we…
Visual-language models (VLMs) have recently been introduced in robotic mapping using the latent representations, i.e., embeddings, of the VLMs to represent semantics in the map. They allow moving from a limited set of human-created labels…
Open-vocabulary 3D visual grounding aims to localize target objects based on free-form language queries, which is crucial for embodied AI applications such as autonomous navigation, robotics, and augmented reality. Learning 3D language…
For a vision-language model (VLM) to understand the physical world, such as cause and effect, a first step is to capture the temporal dynamics of the visual world, for example how the physical states of objects evolve over time (e.g. a…
Spatio-temporal reasoning is a remarkable capability of Vision Language Models (VLMs), but the underlying mechanisms of such abilities remain largely opaque. We postulate that visual/geometrical and textual representations of spatial…