Related papers: Grounded 3D-LLM with Referent Tokens

Effectively representing 3D scenes for Multimodal Large Language Models (MLLMs) is crucial yet challenging. Existing approaches commonly only rely on 2D image features and use varied tokenization approaches. This work presents a rigorous…

Large Language Models (LLM) have emerged as a tool for robots to generate task plans using common sense reasoning. For the LLM to generate actionable plans, scene context must be provided, often through a map. Recent works have shifted from…

Recent advances in large vision-language models (VLMs) have shown significant promise for 3D scene understanding. Existing VLM-based approaches typically align 3D scene features with the VLM's embedding space. However, this implicit…

Multimodal Large Language Models (MLLMs) have made impressive progress in connecting vision and language, but they still struggle with spatial understanding and viewpoint-aware reasoning. Recent efforts aim to augment the input…

With the recent rise of Large Language Models (LLMs), Vision-Language Models (VLMs), and other general foundation models, there is growing potential for multimodal, multi-task embodied agents that can operate in diverse environments given…

Large vision-language models (VLMs) have made significant strides in 2D visual understanding tasks, sparking interest in extending these capabilities to 3D scene understanding. However, current 3D VLMs often struggle with robust reasoning…

3D visual grounding is a critical skill for household robots, enabling them to navigate, manipulate objects, and answer questions based on their environment. While existing approaches often rely on extensive labeled data or exhibit…

The rapid advancement of Multimodal Large Language Models (MLLMs) has significantly impacted various multimodal tasks. However, these models face challenges in tasks that require spatial understanding within 3D environments. Efforts to…

Representing and understanding 3D environments in a structured manner is crucial for autonomous agents to navigate and reason about their surroundings. While traditional Simultaneous Localization and Mapping (SLAM) methods generate metric…

Recently, Large Language Models (LLMs) and Multimodal Large Language Models (MLLMs) have shown promise in instruction following and 2D image understanding. While these models are powerful, they have not yet been developed to comprehend the…

3D vision-language grounding, which focuses on aligning language with the 3D physical environment, stands as a cornerstone in the development of embodied agents. In comparison to recent advancements in the 2D domain, grounding language in…

Research on 3D Vision-Language Models (3D-VLMs) is gaining increasing attention, which is crucial for developing embodied AI within 3D scenes, such as visual navigation and embodied question answering. Due to the high density of visual…

We present a visually-grounded language understanding model based on a study of how people verbally describe objects in scenes. The emphasis of the model is on the combination of individual word meanings to produce meanings for complex…

While multi-modality large language models excel in object-centric or indoor scenarios, scaling them to 3D city-scale environments remains a formidable challenge. To bridge this gap, we propose 3DCity-LLM, a unified framework designed for…

Multi-modal Large Language Models (MLLMs) exhibit impressive capabilities in 2D tasks, yet encounter challenges in discerning the spatial positions, interrelations, and causal logic in scenes when transitioning from 2D to 3D…

We propose associating language utterances to 3D visual abstractions of the scene they describe. The 3D visual abstractions are encoded as 3-dimensional visual feature maps. We infer these 3D visual scene feature maps from RGB images of the…

In order to provide a robot with the ability to understand and react to a user's natural language inputs, the natural language must be connected to the robot's underlying representations of the world. Recently, large language models (LLMs)…

Remarkable progress in 2D Vision-Language Models (VLMs) has spurred interest in extending them to 3D settings for tasks like 3D Question Answering, Dense Captioning, and Visual Grounding. Unlike 2D VLMs that typically process images through…

3D visual grounding aims to localize the unique target described by natural languages in 3D scenes. The significant gap between 3D and language modalities makes it a notable challenge to distinguish multiple similar objects through the…

Large language models (LLMs) have demonstrated impressive results in developing generalist planning agents for diverse tasks. However, grounding these plans in expansive, multi-floor, and multi-room environments presents a significant…