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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…

Vision-language models (VLMs) excel at descriptive tasks, but whether they truly understand scenes from visual observations remains uncertain. We introduce IR3D-Bench, a benchmark challenging VLMs to demonstrate understanding through active…

Automated 3D CT diagnosis empowers clinicians to make timely, evidence-based decisions by enhancing diagnostic accuracy and workflow efficiency. While multimodal large language models (MLLMs) exhibit promising performance in visual-language…

Many existing motion prediction approaches rely on symbolic perception outputs to generate agent trajectories, such as bounding boxes, road graph information and traffic lights. This symbolic representation is a high-level abstraction of…

In this thesis, we propose a multitask learning based method to improve Neural Sign Language Translation (NSLT) consisting of two parts, a tokenization layer and Neural Machine Translation (NMT). The tokenization part focuses on how Sign…

Open-world instance-level scene understanding aims to locate and recognize unseen object categories that are not present in the annotated dataset. This task is challenging because the model needs to both localize novel 3D objects and infer…

Scaling large multimodal models (LMMs) to 3D understanding poses unique challenges: point cloud data is sparse and irregular, existing models rely on fragmented architectures with modality-specific encoders, and training pipelines often…

With the rapid advancement of artificial intelligence and robotics, the integration of Large Language Models (LLMs) with 3D vision is emerging as a transformative approach to enhancing robotic sensing technologies. This convergence enables…

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…

Humans naturally perceive the geometric structure and semantic content of a 3D world as intertwined dimensions, enabling coherent and accurate understanding of complex scenes. However, most prior approaches prioritize training large…

Multi-modal 3D object understanding has gained significant attention, yet current approaches often assume complete data availability and rigid alignment across all modalities. We present CrossOver, a novel framework for cross-modal 3D scene…

Open-vocabulary scene understanding is crucial for robotic applications, enabling robots to comprehend complex 3D environmental contexts and supporting various downstream tasks such as navigation and manipulation. However, existing methods…

Recovering 3D structures with open-vocabulary scene understanding from 2D images is a fundamental but daunting task. Recent developments have achieved this by performing per-scene optimization with embedded language information. However,…

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…

Large Multimodal Models (LMMs) that process 3D data typically rely on heavy, pre-trained visual encoders to extract geometric features. While recent 2D LMMs have begun to eliminate such encoders for efficiency and scalability, extending…

The recent development in multimodal learning has greatly advanced the research in 3D scene understanding in various real-world tasks such as embodied AI. However, most existing studies are facing two common challenges: 1) they are short of…

Recent advances in Multimodal Large Language Models (MLLMs) have expanded reasoning capabilities into 3D domains, enabling fine-grained spatial understanding. However, the substantial size of 3D MLLMs and the high dimensionality of input…

New era has unlocked exciting possibilities for extending Large Language Models (LLMs) to tackle 3D vision-language tasks. However, most existing 3D multimodal LLMs (MLLMs) rely on compressing holistic 3D scene information or segmenting…

This paper focuses on semantic scene completion, a task for producing a complete 3D voxel representation of volumetric occupancy and semantic labels for a scene from a single-view depth map observation. Previous work has considered scene…

Contemporary point cloud segmentation approaches largely rely on richly annotated 3D training data. However, it is both time-consuming and challenging to obtain consistently accurate annotations for such 3D scene data. Moreover, there is…