相关论文: Kestrel: 3D Multimodal LLM for Part-Aware Grounded…

Spatial reasoning is a fundamental capability for embodied intelligence, especially for fine-grained manipulation tasks such as robotic assembly. While recent vision-language models (VLMs) exhibit preliminary spatial awareness, they largely…

Recent advances in 3D datasets and multimodal models have greatly improved natural language 3D scene understanding. However, most 3D referring segmentation methods do not explicitly represent the observer viewpoint, making spatial relations…

Ensuring accessible pedestrian navigation requires reasoning about both semantic and spatial aspects of complex urban scenes, a challenge that existing Large Vision-Language Models (LVLMs) struggle to meet. Although these models can…

Building models that can understand and reason about 3D scenes is difficult owing to the lack of data sources for 3D supervised training and large-scale training regimes. In this work we ask - How can the knowledge in a pre-trained language…

3D Visual Grounding (3DVG) aims to localize the referent of natural language referring expressions through two core tasks: Referring Expression Comprehension (3DREC) and Segmentation (3DRES). While existing methods achieve high accuracy in…

This study introduces PEFT-DML, a parameter-efficient deep metric learning framework for robust multi-modal 3D object detection in autonomous driving. Unlike conventional models that assume fixed sensor availability, PEFT-DML maps diverse…

As interest grows in world models that predict future states from current observations and actions, accurately modeling part-level dynamics has become increasingly relevant for various applications. Existing approaches, such as…

The emergence of Multimodal Large Language Models (MLLMs) has revolutionized image understanding by bridging textual and visual modalities. However, these models often struggle with capturing fine-grained semantic information, such as the…

Large multimodal foundation models, particularly in the domains of language and vision, have significantly advanced various tasks, including robotics, autonomous driving, information retrieval, and grounding. However, many of these models…

Prior studies on 3D scene understanding have primarily developed specialized models for specific tasks or required task-specific fine-tuning. In this study, we propose Grounded 3D-LLM, which explores the potential of 3D large multi-modal…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

Grounding natural language questions to functionally relevant regions in 3D objects -- termed language-driven 3D affordance grounding -- is essential for embodied intelligence and human-AI interaction. Existing methods, while progressing…

Enabling Large Language Models (LLMs) to comprehend the 3D physical world remains a significant challenge. Due to the lack of large-scale 3D-text pair datasets, the success of LLMs has yet to be replicated in 3D understanding. In this…

3D visual grounding has made notable progress in localizing objects within complex 3D scenes. However, grounding referring expressions beyond objects in 3D scenes remains unexplored. In this paper, we introduce Anywhere3D-Bench, a holistic…

Multimodal Large Language Models (MLLMs) have made significant progress in tasks such as image captioning and question answering. However, while these models can generate realistic captions, they often struggle with providing precise…

Despite encouraging progress in 3D scene understanding, it remains challenging to develop an effective Large Multi-modal Model (LMM) that is capable of understanding and reasoning in complex 3D environments. Most previous methods typically…

Multi-modal large language models have demonstrated impressive performance across various tasks in different modalities. However, existing multi-modal models primarily emphasize capturing global information within each modality while…

For robots to understand human instructions and perform meaningful tasks in the near future, it is important to develop learned models that comprehend referential language to identify common objects in real-world 3D scenes. In this paper,…

Learning descriptive 3D features is crucial for understanding 3D scenes with diverse objects and complex structures. However, it is usually unknown whether important geometric attributes and scene context obtain enough emphasis in an…

Precise spatial understanding in Earth Observation is essential for translating raw aerial imagery into actionable insights for critical applications like urban planning, environmental monitoring and disaster management. However, Multimodal…