Related papers: LOC: A General Language-Guided Framework for Open-…

3D visual grounding is a challenging task that often requires direct and dense supervision, notably the semantic label for each object in the scene. In this paper, we instead study the naturally supervised setting that learns from only 3D…

Existing open-vocabulary object detectors typically enlarge their vocabulary sizes by leveraging different forms of weak supervision. This helps generalize to novel objects at inference. Two popular forms of weak-supervision used in…

The past few years have witnessed the rapid development of vision-centric 3D perception in autonomous driving. Although the 3D perception models share many structural and conceptual similarities, there still exist gaps in their feature…

This paper introduces Scene-LLM, a 3D-visual-language model that enhances embodied agents' abilities in interactive 3D indoor environments by integrating the reasoning strengths of Large Language Models (LLMs). Scene-LLM adopts a hybrid 3D…

Monocular Semantic Occupancy Prediction aims to infer the complete 3D geometry and semantic information of scenes from only 2D images. It has garnered significant attention, particularly due to its potential to enhance the 3D perception of…

Vision-based 3D semantic occupancy prediction is vital for autonomous driving, enabling unified modeling of static infrastructure and dynamic agents. Global occupancy maps serve as long-term memory priors, providing valuable historical…

While multi-modality large language models excel in object-centric or indoor scenarios, scaling them to 3D city-scale environments remains a formidable challenge. To bridge this gap, we propose 3DCity-LLM, a unified framework designed for…

Vision and Language (VL) models offer an effective method for aligning representation spaces of images and text, leading to numerous applications such as cross-modal retrieval, visual question answering, captioning, and more. However, the…

We present DeepSeek-VL, an open-source Vision-Language (VL) Model designed for real-world vision and language understanding applications. Our approach is structured around three key dimensions: We strive to ensure our data is diverse,…

Modern 3D object detection datasets are constrained by narrow class taxonomies and costly manual annotations, limiting their ability to scale to open-world settings. In contrast, 2D vision-language models trained on web-scale image-text…

Language-guided embodied navigation requires an agent to interpret object-referential instructions, search across multiple rooms, localize the referenced target, and execute reliable motion toward it. Existing systems remain limited in real…

Open-Vocabulary Semantic Segmentation (OVSS) assigns pixel-level labels from an open set of text-defined categories, demanding reliable generalization to unseen classes at inference. Although modern vision-language models (VLMs) support…

Given the capability of mitigating the long-tail deficiencies and intricate-shaped absence prevalent in 3D object detection, occupancy prediction has become a pivotal component in autonomous driving systems. However, the procession of…

3D scene understanding has been transformed by open-vocabulary language models that enable interaction via natural language. However, at present the evaluation of these representations is limited to datasets with closed-set semantics that…

We propose OpenVoxel, a training-free algorithm for grouping and captioning sparse voxels for the open-vocabulary 3D scene understanding tasks. Given the sparse voxel rasterization (SVR) model obtained from multi-view images of a 3D scene,…

Point cloud-based open-vocabulary 3D object detection aims to detect 3D categories that do not have ground-truth annotations in the training set. It is extremely challenging because of the limited data and annotations (bounding boxes with…

The Large Visual-Language Models (LVLMs) have significantly advanced image understanding. Their comprehension and reasoning capabilities enable promising applications in autonomous driving scenarios. However, existing research typically…

While 3D object bounding box (bbox) representation has been widely used in autonomous driving perception, it lacks the ability to capture the precise details of an object's intrinsic geometry. Recently, occupancy has emerged as a promising…

3D occupancy prediction (3DOcc) is a rapidly rising and challenging perception task in the field of autonomous driving. Existing 3D occupancy networks (OccNets) are both computationally heavy and label-hungry. In terms of model complexity,…

3D occupancy prediction holds significant promise in the fields of robot perception and autonomous driving, which quantifies 3D scenes into grid cells with semantic labels. Recent works mainly utilize complete occupancy labels in 3D voxel…