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Understanding and localizing objects in complex 3D environments from natural language descriptions, known as 3D Visual Grounding (3DVG), is a foundational challenge in embodied AI, with broad implications for robotics, augmented reality,…
Using only image-sentence pairs, weakly-supervised visual-textual grounding aims to learn region-phrase correspondences of the respective entity mentions. Compared to the supervised approach, learning is more difficult since bounding boxes…
Recent advancements in 3D reconstruction methods and vision-language models have propelled the development of multi-modal 3D scene understanding, which has vital applications in robotics, autonomous driving, and virtual/augmented reality.…
While Ferret seamlessly integrates regional understanding into the Large Language Model (LLM) to facilitate its referring and grounding capability, it poses certain limitations: constrained by the pre-trained fixed visual encoder and failed…
We introduce the task of 3D visual grounding in large-scale dynamic scenes based on natural linguistic descriptions and online captured multi-modal visual data, including 2D images and 3D LiDAR point clouds. We present a novel method,…
Visual grounding (VG) aims to locate a specific target in an image based on a given language query. The discriminative information from context is important for distinguishing the target from other objects, particularly for the targets that…
Visual grounding aims to predict the locations of target objects specified by textual descriptions. For this task with linguistic and visual modalities, there is a latest research line that focuses on only selecting the linguistic-relevant…
Humans excel at forming mental maps of their surroundings, equipping them to understand object relationships and navigate based on language queries. Our previous work, SI Maps (Nanwani L, Agarwal A, Jain K, et al. Instance-level semantic…
Human-annotated attributes serve as powerful semantic embeddings in zero-shot learning. However, their annotation process is labor-intensive and needs expert supervision. Current unsupervised semantic embeddings, i.e., word embeddings,…
In this paper, we propose 3DSS-VLG, a weakly supervised approach for 3D Semantic Segmentation with 2D Vision-Language Guidance, an alternative approach that a 3D model predicts dense-embedding for each point which is co-embedded with both…
Video Anomaly Detection (VAD) has traditionally been framed as binary classification or outlier detection, providing neither interpretable reasoning nor precise spatial localization of anomalous events. While Vision-Language Models (VLMs)…
Narrated instructional videos often show and describe manipulations of similar objects, e.g., repairing a particular model of a car or laptop. In this work we aim to reconstruct such objects and to localize associated narrations in 3D.…
Visual grounding focuses on establishing fine-grained alignment between vision and natural language, which has essential applications in multimodal reasoning systems. Existing methods use pre-trained query-agnostic visual backbones to…
We study weakly-supervised video object grounding: given a video segment and a corresponding descriptive sentence, the goal is to localize objects that are mentioned from the sentence in the video. During training, no object bounding boxes…
Seemingly simple natural language requests to a robot are generally underspecified, for example "Can you bring me the wireless mouse?" Flat images of candidate mice may not provide the discriminative information needed for "wireless." The…
Visual grounding tasks, such as referring image segmentation (RIS) and referring expression comprehension (REC), aim to localize a target object based on a given textual description. The target object in an image can be described in…
Aiming to link natural language descriptions to specific regions in a 3D scene represented as 3D point clouds, 3D visual grounding is a very fundamental task for human-robot interaction. The recognition errors can significantly impact the…
Unsupervised representation learning techniques, such as learning word embeddings, have had a significant impact on the field of natural language processing. Similar representation learning techniques have not yet become commonplace in the…
Multi-task visual grounding involves the simultaneous execution of localization and segmentation in images based on textual expressions. The majority of advanced methods predominantly focus on transformer-based multimodal fusion, aiming to…
3D visual grounding (3DVG) aims to localize objects in a 3D scene based on natural language queries. In this work, we explore zero-shot 3DVG from multi-view images alone, without requiring any geometric supervision or object priors. We…