相关论文: 3D Scene Graph Guided Vision-Language Pre-training

Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…

In recent years, the growing demand for medical imaging diagnosis has placed a significant burden on radiologists. As a solution, Medical Vision-Language Pre-training (Med-VLP) methods have been proposed to learn universal representations…

Open-vocabulary 3D visual grounding aims to localize target objects based on free-form language queries, which is crucial for embodied AI applications such as autonomous navigation, robotics, and augmented reality. Learning 3D language…

3D visual grounding (3DVG) involves localizing entities in a 3D scene referred to by natural language text. Such models are useful for embodied AI and scene retrieval applications, which involve searching for objects or patterns using…

Learning to ground natural language queries to target objects or regions in 3D point clouds is quite essential for 3D scene understanding. Nevertheless, existing 3D visual grounding approaches require a substantial number of bounding box…

Scene graph generation provides a compact structured representation for visual perception, but accurate and fast graph prediction from images and videos remains challenging. Recent VLM-based methods can generate scene graphs end-to-end as…

Grasping is one of the most fundamental challenging capabilities in robotic manipulation, especially in unstructured, cluttered, and semantically diverse environments. Recent researches have increasingly explored language-guided…

Due to the limitations of the model structure and pre-training objectives, existing vision-and-language generation models cannot utilize pair-wise images and text through bi-directional generation. In this paper, we propose DU-VLG, a…

Score Distillation Sampling (SDS) enables high-quality text-to-3D generation by supervising 3D models through the denoising of multi-view 2D renderings, using a pretrained text-to-image diffusion model to align with the input prompt and…

Visual-spatial understanding, the ability to infer object relationships and layouts from visual input, is fundamental to downstream tasks such as robotic navigation and embodied interaction. However, existing methods face spatial…

Active perception enables robots to dynamically gather information by adjusting their viewpoints, a crucial capability for interacting with complex, partially observable environments. In this paper, we present AP-VLM, a novel framework that…

3D visual grounding allows an embodied agent to understand visual information in real-world 3D environments based on human instructions, which is crucial for embodied intelligence. Existing 3D visual grounding methods typically rely on…

Reinforcement Learning with Verifiable Rewards ( RLVR ) has emerged as a transformative paradigm for enhancing the reasoning capabilities of Large Language Models ( LLMs), yet its potential in 3D scene understanding remains under-explored.…

Recent advances in scene understanding have leveraged multimodal large language models (MLLMs) for 3D reasoning by capitalizing on their strong 2D pretraining. However, the lack of explicit 3D data during MLLM pretraining limits 3D…

English-based Vision-Language Pre-training (VLP) has achieved great success in various downstream tasks. Some efforts have been taken to generalize this success to non-English languages through Multilingual Vision-Language Pre-training…

Despite having impressive vision-language (VL) pretraining with BERT-based encoder for VL understanding, the pretraining of a universal encoder-decoder for both VL understanding and generation remains challenging. The difficulty originates…

Vision-language models (VLMs) demonstrate strong image-level scene understanding but often lack persistent memory, explicit spatial representations, and computational efficiency when reasoning over long video sequences. We present VL-KnG, a…

Human language is grounded on multimodal knowledge including visual knowledge like colors, sizes, and shapes. However, current large-scale pre-trained language models rely on text-only self-supervised training with massive text data, which…

3D visual grounding (3DVG) is challenging due to the need to understand 3D spatial relations. While supervised approaches have achieved superior performance, they are constrained by the scarcity and high annotation costs of 3D…

Panoptic Scene Graph Generation (PSG) aims at achieving a comprehensive image understanding by simultaneously segmenting objects and predicting relations among objects. However, the long-tail problem among relations leads to unsatisfactory…