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Embodied agents need to plan and act reliably in real and complex 3D environments. Classical planning (e.g., PDDL) offers structure and guarantees, but in practice it fails under noisy perception and incorrect predicate grounding. On the…

We present MeshLLM, a novel framework that leverages large language models (LLMs) to understand and generate text-serialized 3D meshes. Our approach addresses key limitations in existing methods, including the limited dataset scale when…

Accurate prediction of human behavior is crucial for AI systems to effectively support real-world applications, such as autonomous robots anticipating and assisting with human tasks. Real-world scenarios frequently present challenges such…

In order to provide a robot with the ability to understand and react to a user's natural language inputs, the natural language must be connected to the robot's underlying representations of the world. Recently, large language models (LLMs)…

3D object segmentation with Large Language Models (LLMs) has become a prevailing paradigm due to its broad semantics, task flexibility, and strong generalization. However, this paradigm is hindered by representation misalignment: LLMs…

Text-driven localized editing of 3D objects is particularly difficult as locally mixing the original 3D object with the intended new object and style effects without distorting the object's form is not a straightforward process. To address…

The rapid advancement of Large Multimodal Models (LMMs) for 2D images and videos has motivated extending these models to understand 3D scenes, aiming for human-like visual-spatial intelligence. Nevertheless, achieving deep spatial…

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…

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…

Abstract semantic 3D scene understanding is a problem of critical importance in robotics. As robots still lack the common-sense knowledge about household objects and locations of an average human, we investigate the use of pre-trained…

Humans naturally possess the spatial reasoning ability to form and manipulate images and structures of objects in space. There is an increasing effort to endow Vision-Language Models (VLMs) with similar spatial reasoning capabilities.…

Recent advances in legged locomotion learning are still dominated by the utilization of geometric representations of the environment, limiting the robot's capability to respond to higher-level semantics such as human instructions. To…

Visual grounding in 3D is the key for embodied agents to localize language-referred objects in open-world environments. However, existing benchmarks are limited to indoor focus, single-platform constraints, and small scale. We introduce…

Recent advances in scene understanding have leveraged multimodal large language models (MLLMs) for 3D reasoning by capitalizing on their strong 2D pretraining. However, the lack of explicit 3D data during MLLM pretraining limits 3D…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

Self-supervised learning has transformed 2D computer vision by enabling models trained on large, unannotated datasets to provide versatile off-the-shelf features that perform similarly to models trained with labels. However, in 3D scene…

We present DEF-oriCORN, a framework for language-directed manipulation tasks. By leveraging a novel object-based scene representation and diffusion-model-based state estimation algorithm, our framework enables efficient and robust…

Augmenting large language models (LLM) to use external tools enhances their performance across a variety of tasks. However, prior works over-rely on task-specific demonstration of tool use that limits their generalizability and…

Scene generation with 3D assets presents a complex challenge, requiring both high-level semantic understanding and low-level geometric reasoning. While Multimodal Large Language Models (MLLMs) excel at semantic tasks, their application to…

The modeling and manipulation of 3D scenes captured from the real world are pivotal in various applications, attracting growing research interest. While previous works on editing have achieved interesting results through manipulating 3D…