相关论文: LOMA: Language-assisted Semantic Occupancy Network…

Perceiving the world as 3D occupancy supports embodied agents to avoid collision with any types of obstacle. While open-vocabulary image understanding has prospered recently, how to bind the predicted 3D occupancy grids with open-world…

In this paper, we propose a novel framework for enhancing visual comprehension in autonomous driving systems by integrating visual language models (VLMs) with additional visual perception module specialised in object detection. We extend…

Large vision-language models (LVLMs) have achieved impressive results in various vision-language tasks. However, despite showing promising performance, LVLMs suffer from hallucinations caused by language bias, leading to diminished focus on…

Large Multimodal Models (LMMs) have shown significant progress in various complex vision tasks with the solid linguistic and reasoning capacity inherited from large language models (LMMs). Low-rank adaptation (LoRA) offers a promising…

Vision-Language-Action (VLA) models excel in static manipulation but struggle in dynamic environments with moving targets. This performance gap primarily stems from a scarcity of dynamic manipulation datasets and the reliance of mainstream…

In recent years, vision language pre-training frameworks have made significant progress in natural language processing and computer vision, achieving remarkable performance improvement on various downstream tasks. However, when extended to…

In the field of multi-modal language models, the majority of methods are built on an architecture similar to LLaVA. These models use a single-layer ViT feature as a visual prompt, directly feeding it into the language models alongside…

Text-to-point-cloud (T2P) localization aims to infer precise spatial positions within 3D point cloud maps from natural language descriptions, reflecting how humans perceive and communicate spatial layouts through language. However, existing…

With the rapid advancement of large language models (LLMs) and vision-language models (VLMs), significant progress has been made in developing open-vocabulary robotic manipulation systems. However, many existing approaches overlook the…

Applying pre-trained models to assist point cloud understanding has recently become a mainstream paradigm in 3D perception. However, existing application strategies are straightforward, utilizing only the final output of the pre-trained…

Video Language Models (VLMs) are crucial for generalizing across diverse tasks and using language cues to enhance learning. While transformer-based architectures have been the de facto in vision-language training, they face challenges like…

Well-designed indoor scenes should prioritize how people can act within a space rather than merely what objects to place. However, existing 3D scene generation methods emphasize visual and semantic plausibility, while insufficiently…

Automatic furniture layout is long desired for convenient interior design. Leveraging the remarkable visual reasoning capabilities of multimodal large language models (MLLMs), recent methods address layout generation in a static manner,…

Vision-language models (VLMs) have demonstrated remarkable capabilities in understanding and reasoning about visual content, but significant challenges persist in tasks requiring cross-viewpoint understanding and spatial reasoning. We…

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…

Vision-Language-Action (VLA) models show promise for robotic control, yet performance in complex household environments remains sub-optimal. Mobile manipulation requires reasoning about global scene layout, fine-grained geometry, and…

Vision Language Models (VLMs) integrate visual and text modalities to enable multimodal understanding and generation. These models typically combine a Vision Transformer (ViT) as an image encoder and a Large Language Model (LLM) for text…

Vision-language models have shown strong performance, but they often generalize poorly to specialized domains. While semi-supervised vision-language learning mitigates this limitation by leveraging a small set of labeled image-text pairs…

Semantic segmentation of remote sensing images is a fundamental task in geoscience research. However, there are some significant shortcomings for the widely used convolutional neural networks (CNNs) and Transformers. The former is limited…

Vision-Language Model (VLM) is an important component to enable robust robot manipulation. Yet, using it to translate human instructions into an action-resolvable intermediate representation often needs a tradeoff between…