相关论文: OpenAnnotate3D: Open-Vocabulary Auto-Labeling Syst…

Large language models (LLMs) and Vision-Language Models (VLMs) have been proven to excel at multiple tasks, such as commonsense reasoning. Powerful as these models can be, they are not grounded in the 3D physical world, which involves…

Data scarcity is one of the main problems when it comes to real-world applications of transformer-based models. This is especially evident for task-oriented dialogue (TOD) systems, which require specialized datasets, that are usually not…

Note-taking is a critical practice for capturing, organizing, and reflecting on information in both academic and professional settings. The recent success of large language models has accelerated the development of AI-assisted tools, yet…

In the field of speaker diarization, the development of technology is constrained by two problems: insufficient data resources and poor generalization ability of deep learning models. To address these two problems, firstly, we propose an…

Detecting 3D objects keypoints is of great interest to the areas of both graphics and computer vision. There have been several 2D and 3D keypoint datasets aiming to address this problem in a data-driven way. These datasets, however, either…

Affordance detection is a challenging problem with a wide variety of robotic applications. Traditional affordance detection methods are limited to a predefined set of affordance labels, hence potentially restricting the adaptability of…

Open-vocabulary instance segmentation aims at segmenting novel classes without mask annotations. It is an important step toward reducing laborious human supervision. Most existing works first pretrain a model on captioned images covering…

Recent advancements in Vision-Language (VL) models have sparked interest in their deployment on edge devices, yet challenges in handling diverse visual modalities, manual annotation, and computational constraints remain. We introduce…

3D Affordance detection is a challenging problem with broad applications on various robotic tasks. Existing methods typically formulate the detection paradigm as a label-based semantic segmentation task. This paradigm relies on predefined…

The goal of this work is to establish a scalable pipeline for expanding an object detector towards novel/unseen categories, using zero manual annotations. To achieve that, we make the following four contributions: (i) in pursuit of…

Audio description (AD) makes video content accessible to blind and low-vision (BLV) audiences, but producing high-quality descriptions is resource-intensive. Automated AD offers scalability, and prior studies show human-in-the-loop editing…

While interacting in the world is a multi-sensory experience, many robots continue to predominantly rely on visual perception to map and navigate in their environments. In this work, we propose Audio-Visual-Language Maps (AVLMaps), a…

Despite a growing number of datasets being collected for training 3D object detection models, significant human effort is still required to annotate 3D boxes on LiDAR scans. To automate the annotation and facilitate the production of…

Semantic segmentation of 3D LiDAR point clouds, essential for autonomous driving and infrastructure management, is best achieved by supervised learning, which demands extensive annotated datasets and faces the problem of domain shifts. We…

The evolution of text to visual components facilitates people's daily lives, such as generating image, videos from text and identifying the desired elements within the images. Computer vision models involving the multimodal abilities in the…

Open-Vocabulary Detection (OVD) is the task of detecting all interesting objects in a given scene without predefined object classes. Extensive work has been done to deal with the OVD for 2D RGB images, but the exploration of 3D OVD is still…

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…

We introduce 3D-Speaker-Toolkit, an open-source toolkit for multimodal speaker verification and diarization, designed for meeting the needs of academic researchers and industrial practitioners. The 3D-Speaker-Toolkit adeptly leverages the…

Recent advancements in large language models (LLMs) have exhibited promising performance in solving sequential decision-making problems. By imitating few-shot examples provided in the prompts (i.e., in-context learning), an LLM agent can…

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…