相关论文: Uni3DL: Unified Model for 3D and Language Understa…

The remarkable success of diffusion models in text-to-image generation has sparked growing interest in expanding their capabilities to a variety of multi-modal tasks, including image understanding, manipulation, and perception. These tasks…

Recent research shows a big convergence in model architecture, training objectives, and inference methods across various tasks for different modalities. In this paper, we propose VioLA, a single auto-regressive Transformer decoder-only…

As large language models (LLMs) evolve, their integration with 3D spatial data (3D-LLMs) has seen rapid progress, offering unprecedented capabilities for understanding and interacting with physical spaces. This survey provides a…

Vision language decision making (VLDM) is a challenging multimodal task. The agent have to understand complex human instructions and complete compositional tasks involving environment navigation and object manipulation. However, the long…

Enabling agents to understand and interact with complex 3D scenes is a fundamental challenge for embodied artificial intelligence systems. While Multimodal Large Language Models (MLLMs) have achieved significant progress in 2D image…

Vision-Language-Action (VLA) models have emerged as a promising approach for enabling robots to follow language instructions and predict corresponding actions. However, current VLA models mainly rely on 2D visual inputs, neglecting the rich…

We introduce Part-X-MLLM, a native 3D multimodal large language model that unifies diverse 3D tasks by formulating them as programs in a structured, executable grammar. Given an RGB point cloud and a natural language prompt, our model…

Multimodal large language models are increasingly expected to perform thinking with images, yet existing visual latent reasoning methods still rely on explicit textual chain-of-thought interleaved with visual latent tokens. This interleaved…

The rapid advancement of Multimodal Large Language Models (MLLMs) has significantly impacted various multimodal tasks. However, these models face challenges in tasks that require spatial understanding within 3D environments. Efforts to…

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…

In-context learning is a new learning paradigm where a language model conditions on a few input-output pairs (demonstrations) and a test input, and directly outputs the prediction. It has been shown highly dependent on the provided…

Recent advancements in integrating tactile sensing with vision-language models (VLMs) have demonstrated remarkable potential for robotic multimodal perception. However, existing tactile descriptions remain limited to superficial attributes…

The field of generative AI has a transformative impact on various areas, including virtual reality, autonomous driving, the metaverse, gaming, and robotics. Among these applications, 3D object generation techniques are of utmost importance.…

Recent advances in vision-language pre-training have enabled machines to perform better in multimodal object discrimination (e.g., image-text semantic alignment) and image synthesis (e.g., text-to-image generation). On the other hand,…

While multi-modality large language models excel in object-centric or indoor scenarios, scaling them to 3D city-scale environments remains a formidable challenge. To bridge this gap, we propose 3DCity-LLM, a unified framework designed for…

Monocular 3D object detection is a fundamental but very important task to many applications including autonomous driving, robotic grasping and augmented reality. Existing leading methods tend to estimate the depth of the input image first,…

Utilizing Vision-Language Models (VLMs) for robotic manipulation represents a novel paradigm, aiming to enhance the model's ability to generalize to new objects and instructions. However, due to variations in camera specifications and…

General-purpose robots capable of performing diverse tasks require synergistic reasoning and acting capabilities. However, recent dual-system approaches, which separate high-level reasoning from low-level acting, often suffer from…

Vision-Language models (VLMs) have proven to be effective at aligning image and text representations, producing superior zero-shot results when transferred to many downstream tasks. However, these representations suffer from some key…

Training models to apply linguistic knowledge and visual concepts from 2D images to 3D world understanding is a promising direction that researchers have only recently started to explore. In this work, we design a novel 3D pre-training…