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Multimodal Large Language Models (MLLMs) excel in vision-language tasks, such as image captioning and visual question answering. However, they often suffer from over-reliance on spurious correlations, primarily due to linguistic priors that…

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…

A 3D scene graph represents a compact scene model by capturing both the objects present and the semantic relationships between them, making it a promising structure for robotic applications. To effectively interact with users, an embodied…

The rapid development of Artificial Intelligence (AI) has revolutionized numerous fields, with large language models (LLMs) and computer vision (CV) systems driving advancements in natural language understanding and visual processing,…

Multimodal Large Language Model (MLLMs) leverages Large Language Models as a cognitive framework for diverse visual-language tasks. Recent efforts have been made to equip MLLMs with visual perceiving and grounding capabilities. However,…

Deep metric learning (DML) is a cornerstone of many computer vision applications. It aims at learning a mapping from the input domain to an embedding space, where semantically similar objects are located nearby and dissimilar objects far…

Vision-Language Models (VLMs) often yield inconsistent descriptions of the same object across viewpoints, hindering the ability of embodied agents to construct consistent semantic representations over time. Previous methods resolved…

With the widespread adoption of autonomous vehicles and robotics, amodal completion, which reconstructs the occluded parts of people and objects in an image, has become increasingly crucial. Just as humans infer hidden regions based on…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

Multimodal Large Language Models (MLLMs) deliver detailed responses on vision-language tasks, yet remain susceptible to object hallucination (introducing objects not present in the image), undermining reliability in practice. Prior efforts…

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…

Multimodal large language models (MLLMs) have achieved impressive performance across various tasks such as image captioning and visual question answer(VQA); however, they often struggle to accurately interpret depth information inherent in…

Large Vision-Language Models (LVLMs) have demonstrated remarkable capabilities in processing both visual and textual information. However, the critical challenge of alignment between visual and textual representations is not fully…

Large Vision Language Models (LVLMs) have shown strong capabilities in understanding and analyzing visual scenes across various domains. However, in the context of autonomous driving, their limited comprehension of 3D environments restricts…

Enabling agents to understand and interact with complex 3D scenes is a fundamental challenge for embodied artificial intelligence systems. While Multimodal Large Language Models (MLLMs) have achieved significant progress in 2D image…

Deep learning models for autonomous driving, encompassing perception, planning, and control, depend on vast datasets to achieve their high performance. However, their generalization often suffers due to domain-specific data distributions,…

We address the problem of jointly learning vision and language to understand the object in a fine-grained manner. The key idea of our approach is the use of object descriptions to provide the detailed understanding of an object. Based on…

The advent of generalist Large Language Models (LLMs) and Large Vision Models (VLMs) have streamlined the construction of semantically enriched maps that can enable robots to ground high-level reasoning and planning into their…

Multimodal large language models (MLLMs) have shown great potential in perception and interpretation tasks, but their capabilities in predictive reasoning remain under-explored. To address this gap, we introduce a novel benchmark that…

Spatial reasoning from monocular images is essential for autonomous driving, yet current Vision-Language Models (VLMs) still struggle with fine-grained geometric perception, particularly under large scale variation and ambiguous object…