Related papers: OmniVGGT: Omni-Modality Driven Visual Geometry Gro…

Vision-Language-Action (VLA) models have emerged as a promising approach for enabling robots to follow language instructions and predict corresponding actions. However, current VLA models mainly rely on 2D visual inputs, neglecting the rich…

Vision-language-action(VLA) models have shown great promise as generalist policies for a large range of relatively simple tasks. However, they demonstrate limited performance on more complex tasks, such as those requiring complex spatial or…

In this work, we aim to improve the 3D reasoning ability of Transformers in multi-view 3D human pose estimation. Recent works have focused on end-to-end learning-based transformer designs, which struggle to resolve geometric information…

End-to-end autonomous driving has evolved from the conventional paradigm based on sparse perception into vision-language-action (VLA) models, which focus on learning language descriptions as an auxiliary task to facilitate planning. In this…

High-resolution imagery is essential for accurate 3D reconstruction, as many geometric details only emerge at fine spatial scales. Recent feed-forward approaches, such as the Visual Geometry Grounded Transformer (VGGT), have demonstrated…

Recent feed-forward reconstruction models, such as VGGT, have proven competitive with traditional optimization-based reconstructors while also providing geometry-aware features useful for other tasks. Here, we show that the quality of these…

In this paper, we propose a novel network framework for indoor 3D object detection to handle variable input frame numbers in practical scenarios. Existing methods only consider fixed frames of input data for a single detector, such as…

Leveraging the universal representations of pre-trained LLMs and MLLMs offers a promising path toward brain foundation models. However, visually-evoked EEG datasets remain scarce, leading existing methods to align neural signals mainly with…

Throughout the history of computer vision, while research has explored the integration of images (visual) and point clouds (geometric), many advancements in image and 3D object recognition have tended to process these modalities separately.…

Progress in 3D vision-language learning has been hindered by the scarcity of large-scale 3D datasets. We introduce UniVLG, a unified architecture for 2D and 3D vision-language understanding that bridges the gap between existing 2D-centric…

Generalized metric depth understanding is critical for precise vision-guided robotics, which current state-of-the-art (SOTA) vision-encoders do not support. To address this, we propose Vanishing Depth, a self-supervised training approach…

Visual localization has traditionally been formulated as a pair-wise pose regression problem. Existing approaches mainly estimate relative poses between two images and employ a late-fusion strategy to obtain absolute pose estimates.…

Encoding information from 2D views of an object into a 3D representation is crucial for generalized 3D feature extraction. Such features can then enable 3D reconstruction, 3D generation, and other applications. We propose GOEmbed (Gradient…

Visual grounding is a common vision task that involves grounding descriptive sentences to the corresponding regions of an image. Most existing methods use independent image-text encoding and apply complex hand-crafted modules or…

3D semantic occupancy prediction requires accurate 2D-to-3D feature lifting, yet current methods restrict camera geometry to initial projections. Subsequent operations like offset learning, attention weighting, and cross-camera aggregation…

Video temporal grounding (VTG) is typically tackled with dataset-specific models that transfer poorly across domains and query styles. Recent efforts to overcome this limitation have adapted large multimodal language models (MLLMs) to VTG,…

Recent feed-forward 3D reconstruction methods, such as visual geometry transformers, have substantially advanced the traditional per-scene optimization paradigm by enabling effective multi-view reconstruction in a single forward pass.…

We introduce a novel task of 3D visual grounding in monocular RGB images using language descriptions with both appearance and geometry information. Specifically, we build a large-scale dataset, Mono3DRefer, which contains 3D object targets…

Foundation models for 3D vision have recently demonstrated remarkable capabilities in 3D perception. However, scaling these models to long-sequence image inputs remains a significant challenge due to inference-time inefficiency. In this…

Reconstructing large-scale colored point clouds is an important task in robotics, supporting perception, navigation, and scene understanding. Despite advances in LiDAR inertial visual odometry (LIVO), its performance remains highly…