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Reasoning segmentation aims to segment target objects in complex scenes based on human intent and spatial reasoning. While recent multimodal large language models (MLLMs) have demonstrated impressive 2D image reasoning segmentation,…

3D layout tasks have traditionally concentrated on geometric constraints, but many practical applications demand richer contextual understanding that spans social interactions, cultural traditions, and usage conventions. Existing methods…

Multimodal Large Language Models (MLLMs) have made significant progress in tasks such as image captioning and question answering. However, while these models can generate realistic captions, they often struggle with providing precise…

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…

Building models that can understand and reason about 3D scenes is difficult owing to the lack of data sources for 3D supervised training and large-scale training regimes. In this work we ask - How can the knowledge in a pre-trained language…

Although Multimodal Large Language Models have achieved remarkable progress, they still struggle with complex 3D spatial reasoning due to the reliance on 2D visual priors. Existing approaches typically mitigate this limitation either…

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…

While Multimodal Large Language Models (MLLMs) have achieved remarkable success in 2D visual understanding, their ability to reason about 3D space remains limited. To address this gap, we introduce geometrically referenced 3D scene…

Spatial reasoning is a fundamental aspect of human cognition, enabling intuitive understanding and manipulation of objects in three-dimensional space. While foundation models demonstrate remarkable performance on some benchmarks, they still…

We introduce the novel task of Language-Guided Object Placement in Real 3D Scenes. Our model is given a 3D scene's point cloud, a 3D asset, and a textual prompt broadly describing where the 3D asset should be placed. The task here is to…

Prompt-driven scene synthesis allows users to generate complete 3D environments from textual descriptions. Current text-to-scene methods often struggle with complex geometries and object transformations, and tend to show weak adherence to…

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…

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…

While Multimodal Large Language Models (MLLMs) excel in semantic tasks, they frequently lack the "spatial sense" essential for sophisticated geometric reasoning. Current models typically suffer from exorbitant modality-alignment costs and…

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…

Large language models (LLMs) exhibit a variety of promising capabilities in robotics, including long-horizon planning and commonsense reasoning. However, their performance in place recognition is still underexplored. In this work, we…

Multi-object rearrangement is a crucial skill for service robots, and commonsense reasoning is frequently needed in this process. However, achieving commonsense arrangements requires knowledge about objects, which is hard to transfer to…

The visual commonsense reasoning (VCR) task is to choose an answer and provide a justifying rationale based on the given image and textural question. Representative works first recognize objects in images and then associate them with key…

This paper addresses the challenge of scaling Large Multimodal Models (LMMs) to expansive 3D environments. Solving this open problem is especially relevant for robot deployment in many first-responder scenarios, such as search-and-rescue…

Spatial consistency is a fundamental property of the visual world and a key requirement for models that aim to understand physical reality. Despite recent advances, multimodal large language models (MLLMs) often struggle to reason about 3D…