Related papers: Embodied Intelligence for 3D Understanding: A Surv…
Understanding dynamic 4D scenes from an egocentric perspective-modeling changes in 3D spatial structure over time-is crucial for human-machine interaction, autonomous navigation, and embodied intelligence. While existing egocentric datasets…
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…
Large-scale language models like ChatGPT and GPT-4 have gained attention for their impressive conversational and generative capabilities. However, the creation of supervised paired question-answering data for instruction tuning presents…
Embodied navigation is a fundamental capability for robotic agents operating. Real-world deployment requires open vocabulary generalization and low training overhead, motivating zero-shot methods rather than task-specific RL training.…
Spoken question answering (SQA) systems are critical for digital assistants and other real-world use cases, but evaluating their performance is a challenge due to the importance of human-spoken questions. This study presents a new…
New era has unlocked exciting possibilities for extending Large Language Models (LLMs) to tackle 3D vision-language tasks. However, most existing 3D multimodal LLMs (MLLMs) rely on compressing holistic 3D scene information or segmenting…
Recent advances in vision-language models have shown notable generalization in broad tasks through visual instruction tuning. However, bridging the gap between the pre-trained vision encoder and the large language models (LLMs) becomes the…
Real-world data collection for embodied agents remains costly and unsafe, calling for scalable, realistic, and simulator-ready 3D environments. However, existing scene-generation systems often rely on rule-based or task-specific pipelines,…
An important aspect of artificial intelligence (AI) is the ability to reason in a step-by-step "algorithmic" manner that can be inspected and verified for its correctness. This is especially important in the domain of question answering…
In the rapidly evolving landscape of spoken question-answering (SQA), the integration of large language models (LLMs) has emerged as a transformative development. Conventional approaches often entail the use of separate models for question…
Visual Question and Answering (VQA) problems are attracting increasing interest from multiple research disciplines. Solving VQA problems requires techniques from both computer vision for understanding the visual contents of a presented…
Typical active learning strategies are designed for tasks, such as classification, with the assumption that the output space is mutually exclusive. The assumption that these tasks always have exactly one correct answer has resulted in the…
Question-answering (QA) that comes naturally to humans is a critical component in seamless human-computer interaction. It has emerged as one of the most convenient and natural methods to interact with the web and is especially desirable in…
Embodied AI requires agents that perceive, act, and anticipate how actions reshape future world states. World models serve as internal simulators that capture environment dynamics, enabling forward and counterfactual rollouts to support…
Embodied Question Answering (EQA) is a relatively new task where an agent is asked to answer questions about its environment from egocentric perception. EQA makes the fundamental assumption that every question, e.g., "what color is the…
Understanding road scenes is essential for autonomous driving, as it enables systems to interpret visual surroundings to aid in effective decision-making. We present Roadscapes, a multitask multimodal dataset consisting of upto 9,000 images…
Holistic 3D scene understanding entails estimation of both layout configuration and object geometry in a 3D environment. Recent works have shown advances in 3D scene estimation from various input modalities (e.g., images, 3D scans), by…
The rapid development of Large Multimodal Models (LMMs) has led to remarkable progress in 2D visual understanding; however, extending these capabilities to 3D scene understanding remains a significant challenge. Existing approaches…
3D scene understanding is fundamental for embodied AI and robotics, supporting reliable perception for interaction and navigation. Recent approaches achieve zero-shot, open-vocabulary 3D semantic mapping by assigning embedding vectors to 2D…
Visual Question Answering (VQA) is challenging due to the complex cross-modal relations. It has received extensive attention from the research community. From the human perspective, to answer a visual question, one needs to read the…