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Open-set perception in complex traffic environments poses a critical challenge for autonomous driving systems, particularly in identifying previously unseen object categories, which is vital for ensuring safety. Visual Language Models…

Although 3D Gaussian Splatting (3D-GS) achieves efficient rendering for novel view synthesis, extending it to dynamic scenes still results in substantial memory overhead from replicating Gaussians across frames. To address this challenge,…

Vision-Language-Action (VLA) models offer a unified framework for robotic perception and control, but their ability to scale to real-world, long-horizon tasks is limited by the high computational cost of attention and the large memory…

Attention models are widely used in Vision-language (V-L) tasks to perform the visual-textual correlation. Humans perform such a correlation with a strong linguistic understanding of the visual world. However, even the best performing…

Open-vocabulary 3D occupancy is vital for embodied agents, which need to understand complex indoor environments where semantic categories are abundant and evolve beyond fixed taxonomies. While recent work has explored open-vocabulary…

We aim at advancing open-vocabulary object detection, which detects objects described by arbitrary text inputs. The fundamental challenge is the availability of training data. It is costly to further scale up the number of classes contained…

We present GALA3D, generative 3D GAussians with LAyout-guided control, for effective compositional text-to-3D generation. We first utilize large language models (LLMs) to generate the initial layout and introduce a layout-guided 3D Gaussian…

Precisely perceiving the geometric and semantic properties of real-world 3D objects is crucial for the continued evolution of augmented reality and robotic applications. To this end, we present Foundation Model Embedded Gaussian Splatting…

Vision-Language-Action (VLA) models have demonstrated significant advantages in robotic manipulation. However, their reliance on vision and language often leads to suboptimal performance in tasks involving visual occlusion, fine-grained…

Recent vision-language-action (VLA) models rely on 2D inputs, lacking integration with the broader realm of the 3D physical world. Furthermore, they perform action prediction by learning a direct mapping from perception to action,…

Jointly estimating camera poses and mapping scenes from RGBD images is a fundamental task in simultaneous localization and mapping (SLAM). State-of-the-art methods employ 3D Gaussians to represent a scene, and render these Gaussians through…

The goal of Multilingual Visual Answer Localization (MVAL) is to locate a video segment that answers a given multilingual question. Existing methods either focus solely on visual modality or integrate visual and subtitle modalities.…

We address the issue of the exploding computational requirements of recent State-of-the-art (SOTA) open set multimodel 3D mapping (dense 3D mapping) algorithms and present Voxel-Aggregated Feature Synthesis (VAFS), a novel approach to dense…

Recently, with the development of Neural Radiance Fields and Gaussian Splatting, 3D reconstruction techniques have achieved remarkably high fidelity. However, the latent representations learnt by these methods are highly entangled and lack…

Text-to-3D generation has advanced rapidly, yet state-of-the-art models, encompassing both optimization-based and feed-forward architectures, still face two fundamental limitations. First, they struggle with coarse semantic alignment, often…

Traditional LiDAR-based object detection research primarily focuses on closed-set scenarios, which falls short in complex real-world applications. Directly transferring existing 2D open-vocabulary models with some known LiDAR classes for…

Score Distillation Sampling (SDS) enables high-quality text-to-3D generation by supervising 3D models through the denoising of multi-view 2D renderings, using a pretrained text-to-image diffusion model to align with the input prompt and…

3D Gaussian Splatting (3DGS) provides an explicit and efficient scene representation, but its primitives lack inherent object-level identity, hindering downstream tasks such as open-vocabulary scene understanding. Existing methods typically…

Language-driven object navigation requires agents to interpret natural language descriptions of target objects, which combine intrinsic and extrinsic attributes for instance recognition and commonsense navigation. Existing methods either…

Open-vocabulary segmentation of 3D scenes is a fundamental function of human perception and thus a crucial objective in computer vision research. However, this task is heavily impeded by the lack of large-scale and diverse 3D…