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

Vision-and-Language Navigation (VLN) requires an embodied agent to traverse complex environments by following natural language instructions, demanding accurate alignment between visual observations and linguistic guidance. Despite recent…

Scene graph generation (SGG) is a fundamental task aimed at detecting visual relations between objects in an image. The prevailing SGG methods require all object classes to be given in the training set. Such a closed setting limits the…

Vision-language models (VLMs) have demonstrated strong cross-modal capabilities, yet most work remains limited to 2D data and assumes binary supervision (i.e., positive vs. negative pairs), overlooking the continuous and structured…

Large Language Models (LLMs) and Vision Language Models (VLMs) have shown impressive reasoning abilities, yet they struggle with spatial understanding and layout consistency when performing fine-grained visual editing. We introduce a…

Visual Language Models (VLMs) have increasingly become the main paradigm for understanding indoor scenes, but they still struggle with metric and spatial reasoning. Current approaches rely on end-to-end video understanding or large-scale…

Masked signal modeling has greatly advanced self-supervised pre-training for language and 2D images. However, it is still not fully explored in 3D scene understanding. Thus, this paper introduces Masked Shape Prediction (MSP), a new…

While Multimodal Large Language Models (MLLMs) excel in semantic tasks, they frequently lack the "spatial sense" essential for sophisticated geometric reasoning. Current models typically suffer from exorbitant modality-alignment costs and…

Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or a limited…

Prompt learning has achieved great success in efficiently exploiting large-scale pre-trained models in natural language processing (NLP). It reformulates the downstream tasks as the generative pre-training ones to achieve consistency, thus…

Vision-and-Language Navigation (VLN) is a core task where embodied agents leverage their spatial mobility to navigate in 3D environments toward designated destinations based on natural language instructions. Recently, video-language large…

Scene graph generation (SGG) endeavors to predict visual relationships between pairs of objects within an image. Prevailing SGG methods traditionally assume a one-off learning process for SGG. This conventional paradigm may necessitate…

In this paper, we propose 3DSS-VLG, a weakly supervised approach for 3D Semantic Segmentation with 2D Vision-Language Guidance, an alternative approach that a 3D model predicts dense-embedding for each point which is co-embedded with both…

Robotic manipulation in 3D requires effective computation of N degree-of-freedom joint-space trajectories that enable precise and robust control. To achieve this, robots must integrate semantic understanding with visual perception to…

With the recent success of the pre-training technique for NLP and image-linguistic tasks, some video-linguistic pre-training works are gradually developed to improve video-text related downstream tasks. However, most of the existing…

Despite recent advances in multimodal content generation enabled by vision-language models (VLMs), their ability to reason about and generate structured 3D scenes remains largely underexplored. This limitation constrains their utility in…

Vision-language models (VLMs) have advanced multimodal reasoning but still face challenges in spatial reasoning for 3D scenes and complex object configurations. To address this, we introduce SpatialViLT, an enhanced VLM that integrates…

The goal of scene graph generation is to predict a graph from an input image, where nodes correspond to identified and localized objects and edges to their corresponding interaction predicates. Existing methods are trained in a fully…

Creating machines capable of understanding the world in 3D is essential in assisting designers that build and edit 3D environments and robots navigating and interacting within a three-dimensional space. Inspired by advances in language and…

Skeleton-based action representation learning aims to interpret and understand human behaviors by encoding the skeleton sequences, which can be categorized into two primary training paradigms: supervised learning and self-supervised…

Visual reasoning, particularly spatial reasoning, is a challenging cognitive task that requires understanding object relationships and their interactions within complex environments, especially in robotics domain. Existing vision_language…