Related papers: Scenes as Tokens: Multi-Scale Normal Distributions…

Creating machines capable of understanding the world in 3D is essential in assisting designers that build and edit 3D environments and robots navigating and interacting within a three-dimensional space. Inspired by advances in language and…

With the growing adoption of vision-language-action models and world models in autonomous driving systems, scalable image tokenization becomes crucial as the interface for the visual modality. However, most existing tokenizers are designed…

Effectively representing 3D scenes for Multimodal Large Language Models (MLLMs) is crucial yet challenging. Existing approaches commonly only rely on 2D image features and use varied tokenization approaches. This work presents a rigorous…

Vision-language models like CLIP can offer a promising foundation for 3D scene understanding when extended with 3D tokenizers. However, standard approaches, such as k-nearest neighbor or radius-based tokenization, struggle with cross-domain…

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…

Vision-and-Language Navigation (VLN) is a core task where embodied agents leverage their spatial mobility to navigate in 3D environments toward designated destinations based on natural language instructions. Recently, video-language large…

We present SceneTok, a novel tokenizer for encoding view sets of scenes into a compressed and diffusable set of unstructured tokens. Existing approaches for 3D scene representation and generation commonly use 3D data structures or…

Remarkable progress in 2D Vision-Language Models (VLMs) has spurred interest in extending them to 3D settings for tasks like 3D Question Answering, Dense Captioning, and Visual Grounding. Unlike 2D VLMs that typically process images through…

Semantic segmentation of raw 3D point clouds is an essential component in 3D scene analysis, but it poses several challenges, primarily due to the non-Euclidean nature of 3D point clouds. Although, several deep learning based approaches…

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…

Prior studies on 3D scene understanding have primarily developed specialized models for specific tasks or required task-specific fine-tuning. In this study, we propose Grounded 3D-LLM, which explores the potential of 3D large multi-modal…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Despite encouraging progress in 3D scene understanding, it remains challenging to develop an effective Large Multi-modal Model (LMM) that is capable of understanding and reasoning in complex 3D environments. Most previous methods typically…

Recent advancements in multi-modal large language models (MLLMs) have shown strong potential for 3D scene understanding. However, existing methods struggle with fine-grained object grounding and contextual reasoning, limiting their ability…

Recent advancements in 3D Large Language Models (LLMs) have demonstrated promising capabilities for 3D scene understanding. However, previous methods exhibit deficiencies in general referencing and grounding capabilities for intricate scene…

Enabling Large Language Models (LLMs) to interact with 3D environments is challenging. Existing approaches extract point clouds either from ground truth (GT) geometry or 3D scenes reconstructed by auxiliary models. Text-image aligned 2D…

We propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are…

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,…

Understanding 3D scenes goes beyond simply recognizing objects; it requires reasoning about the spatial and semantic relationships between them. Current 3D scene-language models often struggle with this relational understanding,…