Related papers: PointAlign: Feature-Level Alignment Regularization…

The matching of 3D shapes has been extensively studied for shapes represented as surface meshes, as well as for shapes represented as point clouds. While point clouds are a common representation of raw real-world 3D data (e.g. from laser…

Recent advances have explored integrating large language models (LLMs) into end-to-end autonomous driving systems to enhance generalization and interpretability. However, most existing approaches are limited to either driving performance or…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

Vision-Language-Action (VLA) models have shown strong potential for general-purpose robotic manipulation by leveraging large pretrained vision-language backbones. However, most existing VLAs rely primarily on 2D visual representations,…

Parameter-efficient fine-tuning strategies for foundation models in 1D textual and 2D visual analysis have demonstrated remarkable efficacy. However, due to the scarcity of point cloud data, pre-training large 3D models remains a…

Vision-and-Language Navigation (VLN) is a challenging task that requires a robot to navigate in photo-realistic environments with human natural language promptings. Recent studies aim to handle this task by constructing the semantic spatial…

Vision Language Models (VLMs) are central to Visual Question Answering (VQA) systems and are typically deployed in the cloud due to their high computational demands. However, this cloud-only approach underutilizes edge computational…

Recent advancements in multimodal fusion have witnessed the remarkable success of vision-language (VL) models, which excel in various multimodal applications such as image captioning and visual question answering. However, building VL…

Semantic shape completion is a challenging problem in 3D computer vision where the task is to generate a complete 3D shape using a partial 3D shape as input. We propose a learning-based approach to complete incomplete 3D shapes through…

Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region…

Domain generalization in 3D segmentation is a critical challenge in deploying models to unseen environments. Current methods mitigate the domain shift by augmenting the data distribution of point clouds. However, the model learns global…

Vision Language Models (VLMs) mix visual tokens and text tokens. A puzzling issue is the fact that visual tokens most related to the query receive little to no attention in the final layers of the LLM module of VLMs from the answer tokens,…

Image-to-point cloud registration methods typically follow a coarse-to-fine pipeline, extracting patch-level correspondences and refining them into dense pixel-to-point matches. However, in scenes with repetitive patterns, images often lack…

Point cloud registration is a key task in many computational fields. Previous correspondence matching based methods require the inputs to have distinctive geometric structures to fit a 3D rigid transformation according to point-wise sparse…

Vector quantization has emerged as a powerful tool in large-scale multimodal models, unifying heterogeneous representations through discrete token encoding. However, its effectiveness hinges on robust codebook design. Current…

Vision-Language Models (VLMs) have demonstrated remarkable capabilities in cross-modal understanding and generation by integrating visual and textual information. While instruction tuning and parameter-efficient fine-tuning methods have…

Vision-Language Models (VLMs) excel at 2D tasks such as grounding and captioning, yet remain limited in 3D understanding. A key limitation is their text-only supervision paradigm, which under-constrains fine-grained visual perception and…

Reconstruction of geometric structures from images using supervised learning suffers from limited available amount of accurate data. One type of such data is accurate real-world RGB-D images. A major challenge in acquiring such ground truth…

This research introduces a transformative framework for integrating Vision-Enhanced Large Language Models (LLMs) with advanced transformer-based architectures to tackle challenges in high-resolution image synthesis and multimodal data…

Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…