相关论文: Chat-3D: Data-efficiently Tuning Large Language Mo…

We present a novel approach for long-term human trajectory prediction in indoor human-centric environments, which is essential for long-horizon robot planning in these environments. State-of-the-art human trajectory prediction methods are…

Open-vocabulary querying in 3D space is challenging but essential for scene understanding tasks such as object localization and segmentation. Language-embedded scene representations have made progress by incorporating language features into…

To enable robots to comprehend high-level human instructions and perform complex tasks, a key challenge lies in achieving comprehensive scene understanding: interpreting and interacting with the 3D environment in a meaningful way. This…

Zero-shot scene understanding in real-world settings presents major challenges due to the complexity and variability of natural scenes, where models must recognize new objects, actions, and contexts without prior labeled examples. This work…

Understanding 3D medical image volumes is critical in the medical field, yet existing 3D medical convolution and transformer-based self-supervised learning (SSL) methods often lack deep semantic comprehension. Recent advancements in…

Large vision-language models (VLMs) have shown promising capabilities in scene understanding, enhancing the explainability of driving behaviors and interactivity with users. Existing methods primarily fine-tune VLMs on on-board multi-view…

Synthesizing 3D scenes from open-vocabulary text descriptions is a challenging, important, and recently-popular application. One of its critical subproblems is layout generation: given a set of objects, lay them out to produce a scene…

3D layout tasks have traditionally concentrated on geometric constraints, but many practical applications demand richer contextual understanding that spans social interactions, cultural traditions, and usage conventions. Existing methods…

In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructions expressed in natural language. Our system builds a shared…

Recent conditional 3D completion works have mainly relied on CLIP or BERT to encode textual information, which cannot support complex instruction. Meanwhile, large language models (LLMs) have shown great potential in multi-modal…

Pre-trained language models (PrLM) has been shown powerful in enhancing a broad range of downstream tasks including various dialogue related ones. However, PrLMs are usually trained on general plain text with common language model (LM)…

Gaussian Splatting has rapidly emerged as a transformative technique for real-time 3D scene representation, offering a highly efficient and expressive alternative to Neural Radiance Fields (NeRF). Its ability to render complex scenes with…

The dream of achieving a student-teacher ratio of 1:1 is closer than ever thanks to the emergence of large language models (LLMs). One potential application of these models in the educational field would be to provide feedback to students…

Large language models (LLMs) have achieved remarkable success in text-based tasks but often struggle to provide actionable guidance in real-world physical environments. This is because of their inability to recognize their limited…

The rapid development of Large Multimodal Models (LMMs) has led to remarkable progress in 2D visual understanding; however, extending these capabilities to 3D scene understanding remains a significant challenge. Existing approaches…

Vision-language models (VLMs) have achieved remarkable success in scene understanding and perception tasks, enabling robots to plan and execute actions adaptively in dynamic environments. However, most multimodal large language models lack…

Scene simulation in autonomous driving has gained significant attention because of its huge potential for generating customized data. However, existing editable scene simulation approaches face limitations in terms of user interaction…

Panorama images have a much larger field-of-view thus naturally encode enriched scene context information compared to standard perspective images, which however is not well exploited in the previous scene understanding methods. In this…

Large vision language models (LVLM) are the leading A.I approach for achieving a general visual understanding of the world. Models such as GPT, Claude, Gemini, and LLama can use images to understand and analyze complex visual scenes. 3D…

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…