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3D Scene Question Answering (3D SQA) represents an interdisciplinary task that integrates 3D visual perception and natural language processing, empowering intelligent agents to comprehend and interact with complex 3D environments. Recent…
High-quality 4D reconstruction of human performance with complex interactions to various objects is essential in real-world scenarios, which enables numerous immersive VR/AR applications. However, recent advances still fail to provide…
With the surge in the development of large language models, embodied intelligence has attracted increasing attention. Nevertheless, prior works on embodied intelligence typically encode scene or historical memory in an unimodal manner,…
Recent advancements in Large Language Models (LLMs) have greatly enhanced natural language understanding and content generation. However, these models primarily operate in disembodied digital environments and lack interaction with the…
Recent advances in multimodal large language models (MLLMs) have opened new opportunities for embodied intelligence, enabling multimodal understanding, reasoning, and interaction, as well as continuous spatial decision-making. Nevertheless,…
Embodied AI systems operate in dynamic environments, requiring seamless integration of perception and generation modules to process high-frequency input and output demands. Traditional sequential computation patterns, while effective in…
Co-design is essential for grounding embodied artificial intelligence (AI) systems in real-world contexts, especially high-stakes domains such as healthcare. While prior work has explored multidisciplinary collaboration, iterative…
The rapid advancement of Multimodal Large Language Models (MLLMs) has empowered Unmanned Aerial Vehicle (UAV) with exceptional capabilities in spatial reasoning, semantic understanding, and complex decision-making, making them inherently…
Depth estimation is a core problem in robotic perception and vision tasks, but 3D reconstruction from a single image presents inherent uncertainties. Current depth estimation models primarily rely on inter-image relationships for supervised…
Seamless integration of virtual and physical worlds in augmented reality benefits from the system semantically "understanding" the physical environment. AR research has long focused on the potential of context awareness, demonstrating novel…
Current embodied intelligent systems still face a substantial gap between high-level reasoning and low-level physical execution in open-world environments. Although Vision-Language-Action (VLA) models provide strong perception and intuitive…
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…
Generating articulated objects, such as laptops and microwaves, is a crucial yet challenging task with extensive applications in Embodied AI and AR/VR. Current image-to-3D methods primarily focus on surface geometry and texture, neglecting…
With the rapid advancement of 3D representation techniques and generative models, substantial progress has been made in reconstructing full-body 3D avatars from a single image. However, this task remains fundamentally ill-posedness due to…
This paper investigates the problem of understanding dynamic 3D scenes from egocentric observations, a key challenge in robotics and embodied AI. Unlike prior studies that explored this as long-form video understanding and utilized…
The field of Embodied AI predominantly relies on simulation for training and evaluation, often using either fully synthetic environments that lack photorealism or high-fidelity real-world reconstructions captured with expensive hardware. As…
We introduce an active 3D reconstruction method which integrates visual perception, robot-object interaction, and 3D scanning to recover both the exterior and interior, i.e., unexposed, geometries of a target 3D object. Unlike other works…
Brain-body co-evolution enables animals to develop complex behaviors in their environments. Inspired by this biological synergy, embodied co-design (ECD) has emerged as a transformative paradigm for creating intelligent agents-from virtual…
There is a gap in the understanding of occluded objects in existing large-scale visual language multi-modal models. Current state-of-the-art multi-modal models fail to provide satisfactory results in describing occluded objects through…
High-fidelity 3D reconstruction is critical for aerial inspection tasks such as infrastructure monitoring, structural assessment, and environmental surveying. While traditional photogrammetry techniques enable geometric modeling, they lack…