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

Accurate prediction of human behavior is crucial for AI systems to effectively support real-world applications, such as autonomous robots anticipating and assisting with human tasks. Real-world scenarios frequently present challenges such…

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…

3D understanding is a key capability for real-world AI assistance. High-quality data plays an important role in driving the development of the 3D understanding community. Current 3D scene understanding datasets often provide geometric and…

Currently, utilizing large language models to understand the 3D world is becoming popular. Yet existing 3D-aware LLMs act as black boxes: they output bounding boxes or textual answers without revealing how those decisions are made, and they…

Integrating the 3D world into large language models (3D-based LLMs) has been a promising research direction for 3D scene understanding. However, current 3D-based LLMs fall short in situated understanding due to two key limitations: 1)…

Training models to apply common-sense linguistic knowledge and visual concepts from 2D images to 3D scene understanding is a promising direction that researchers have only recently started to explore. However, it still remains understudied…

In order to provide a robot with the ability to understand and react to a user's natural language inputs, the natural language must be connected to the robot's underlying representations of the world. Recently, large language models (LLMs)…

We introduce the task of predicting functional 3D scene graphs for real-world indoor environments from posed RGB-D images. Unlike traditional 3D scene graphs that focus on spatial relationships of objects, functional 3D scene graphs capture…

While Multimodal Large Language Models (MLLMs) have achieved remarkable success in 2D visual understanding, their ability to reason about 3D space remains limited. To address this gap, we introduce geometrically referenced 3D scene…

This work explores expanding the capabilities of large language models (LLMs) pretrained on text to generate 3D meshes within a unified model. This offers key advantages of (1) leveraging spatial knowledge already embedded in LLMs, derived…

Understanding and reasoning about complex 3D environments requires structured scene representations that capture not only objects but also their semantic and spatial relationships. While recent works on 3D scene graph generation have…

With the recent rise of Large Language Models (LLMs), Vision-Language Models (VLMs), and other general foundation models, there is growing potential for multimodal, multi-task embodied agents that can operate in diverse environments given…

This paper proposes an approach to build 3D scene graphs in arbitrary indoor and outdoor environments. Such extension is challenging; the hierarchy of concepts that describe an outdoor environment is more complex than for indoors, and…

The recent advancements in visual reasoning capabilities of large multimodal models (LMMs) and the semantic enrichment of 3D feature fields have expanded the horizons of robotic capabilities. These developments hold significant potential…

Semantic querying in complex 3D scenes through free-form language presents a significant challenge. Existing 3D scene understanding methods use large-scale training data and CLIP to align text queries with 3D semantic features. However,…

This paper addresses the challenge of scaling Large Multimodal Models (LMMs) to expansive 3D environments. Solving this open problem is especially relevant for robot deployment in many first-responder scenarios, such as search-and-rescue…

Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…

Robots are finding wider adoption in human environments, increasing the need for natural human-robot interaction. However, understanding a natural language command requires the robot to infer the intended task and how to decompose it into…

If robots are to work effectively alongside people, they must be able to interpret natural language references to objects in their 3D environment. Understanding 3D referring expressions is challenging -- it requires the ability to both…

Recent vision-language pre-training models have exhibited remarkable generalization ability in zero-shot recognition tasks. Previous open-vocabulary 3D scene understanding methods mostly focus on training 3D models using either image or…