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3D Visual Grounding (3DVG) focuses on locating objects in 3D scenes based on natural language descriptions, serving as a fundamental task for embodied AI and robotics. Recent advances in Multi-modal Large Language Models (MLLMs) have…

Image-text retrieval has developed rapidly in recent years. However, it is still a challenge in remote sensing due to visual-semantic imbalance, which leads to incorrect matching of non-semantic visual and textual features. To solve this…

Semantic maps allow a robot to reason about its surroundings to fulfill tasks such as navigating known environments, finding specific objects, and exploring unmapped areas. Traditional mapping approaches provide accurate geometric…

Humans can perform complex tasks with long-term objectives by planning, reasoning, and forecasting outcomes of actions. For embodied agents to achieve similar capabilities, they must gain knowledge of the environment transferable to novel…

The ability to process ultra-long contexts is crucial for large language models (LLMs) to perform long-horizon tasks. While recent efforts have extended context windows to 1M and beyond, model performance degrades when sequence length…

While current multimodal models can answer questions based on 2D images, they lack intrinsic 3D object perception, limiting their ability to comprehend spatial relationships and depth cues in 3D scenes. In this work, we propose N3D-VLM, a…

Recent advances in 3D scene-language understanding have leveraged Large Language Models (LLMs) for 3D reasoning by transferring their general reasoning ability to 3D multi-modal contexts. However, existing methods typically adopt standard…

Embodied intelligence, a grand challenge in artificial intelligence, is fundamentally constrained by the limited spatial understanding and reasoning capabilities of current models. Prevailing efforts to address this through enhancing…

Spatial referring is a fundamental capability of embodied robots to interact with the 3D physical world. However, even with the powerful pretrained vision language models (VLMs), recent approaches are still not qualified to accurately…

This paper introduces Scene-LLM, a 3D-visual-language model that enhances embodied agents' abilities in interactive 3D indoor environments by integrating the reasoning strengths of Large Language Models (LLMs). Scene-LLM adopts a hybrid 3D…

Achieving human-like reasoning in deep learning models for complex tasks in unknown environments remains a critical challenge in embodied intelligence. While advanced vision-language models (VLMs) excel in static scene understanding, their…

Rotary Positional Encoding (RoPE) is widely used in modern large language models. However, when sequences are extended beyond the range seen during training, rotary phases can enter out-of-distribution regimes, leading to spurious…

Positional encoding (PE) underpins how permutation-invariant Transformers represent sequence order, yet how positional information is processed and stored remains poorly understood. Modern PE methods such as RoPE still struggle on tasks…

Long-context large language models (LLMs) have achieved remarkable advancements, driven by techniques like Rotary Position Embedding (RoPE) (Su et al., 2023) and its extensions (Chen et al., 2023; Liu et al., 2024c; Peng et al., 2023). By…

Standard Vision Transformers flatten 2D images into 1D sequences, disrupting the natural spatial topology. While Rotary Positional Embedding (RoPE) excels in 1D, it inherits this limitation, often treating spatially distant patches (e.g.,…

Recent Large Vision Language Models (LVLMs) present remarkable zero-shot conversational and reasoning capabilities given multimodal queries. Nevertheless, they suffer from object hallucination, a phenomenon where LVLMs are prone to generate…

Multimodal Large Language Models (MLLMs) have increasingly localized and interleaved visual evidence for deliberative reasoning. Grounding-based approaches typically focus on regions of interest (RoIs) by injecting cropped image patches or…

Multi-modal language models (LM) have recently shown promising performance in high-level reasoning tasks on videos. However, existing methods still fall short in tasks like causal or compositional spatiotemporal reasoning over actions, in…

There are several improvements proposed over the baseline Absolute Positional Encoding (APE) method used in original transformer. In this study, we aim to investigate the implications of inadequately representing positional encoding in…

Recent 3D Large-Language Models (3D-LLMs) claim to understand 3D worlds, especially spatial relationships among objects. Yet, we find that simply fine-tuning a language model on text-only question-answer pairs can perform comparably or even…