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

In recent years, the application of multimodal large language models (MLLM) in various fields has achieved remarkable success. However, as the foundation model for many downstream tasks, current MLLMs are composed of the well-known…

Recent vision-language-action (VLA) models rely on 2D inputs, lacking integration with the broader realm of the 3D physical world. Furthermore, they perform action prediction by learning a direct mapping from perception to action,…

Spatial reasoning is a critical capability for intelligent robots, yet current vision-language models (VLMs) still fall short of human-level performance in video-based spatial reasoning. This gap mainly stems from two challenges: a…

Open-vocabulary detection (OVD) aims to detect objects beyond a predefined set of categories. As a pioneering model incorporating the YOLO series into OVD, YOLO-World is well-suited for scenarios prioritizing speed and efficiency. However,…

Human beings are social animals. How to equip 3D autonomous characters with similar social intelligence that can perceive, understand and interact with humans remains an open yet foundamental problem. In this paper, we introduce SOLAMI, the…

Vision-and-Language Navigation (VLN) tasks agents with locating specific objects in unseen environments using natural language instructions and visual cues. Many existing VLN approaches typically follow an 'observe-and-reason' schema, that…

Occupancy prediction plays a pivotal role in autonomous driving (AD) due to the fine-grained geometric perception and general object recognition capabilities. However, existing methods often incur high computational costs, which contradicts…

While Vision-Language Models (VLMs) enable high-level semantic reasoning for end-to-end autonomous driving, particularly in unstructured environments, existing off-road datasets suffer from language annotations that are weakly aligned with…

Multi-modal Large Language Models (MLLMs) have recently exhibited impressive general-purpose capabilities by leveraging vision foundation models to encode the core concepts of images into representations. These are then combined with…

Holistic understanding and reasoning in 3D scenes are crucial for the success of autonomous driving systems. The evolution of 3D semantic occupancy prediction as a pretraining task for autonomous driving and robotic applications captures…

Vision Language Action (VLA) models have recently shown great potential in bridging multimodal perception with robotic control. However, existing methods often rely on direct fine-tuning of pre-trained Vision-Language Models (VLMs), feeding…

In recent years, Visual Question Localized-Answering in robotic surgery (Surgical-VQLA) has gained significant attention for its potential to assist medical students and junior doctors in understanding surgical scenes. Recently, the rapid…

Implicit spatial relations and deep semantic structures encoded in object attributes are crucial for procedural planning in embodied AI systems. However, existing approaches often over rely on the reasoning capabilities of vision language…

Geometry problem solving (GPS) is a challenging mathematical reasoning task requiring multi-modal understanding, fusion, and reasoning. Existing neural solvers take GPS as a vision-language task but are short in the representation of…

Image and language modeling is of crucial importance for vision-language pre-training (VLP), which aims to learn multi-modal representations from large-scale paired image-text data. However, we observe that most existing VLP methods focus…

Due to the advantages such as high security, high privacy, and liveness recognition, vein recognition has been received more and more attention in past years. Recently, deep learning models, e.g., Mamba has shown robust feature…

The rapid advances in deep learning have significantly enhanced the accuracy of multimodal 3D human pose estimation (HPE). However, the state-of-the-art (SOTA) HPE pipelines still rely on Transformers, whose quadratic complexity makes…

We present VISTA (Viewpoint-based Image selection with Semantic Task Awareness), an active exploration method for robots to plan informative trajectories that improve 3D map quality in areas most relevant for task completion. Given an…

Recent advances in Large Multimodal Models (LMM) have made it possible for various applications in human-machine interactions. However, developing LMMs that can comprehend, reason, and plan in complex and diverse 3D environments remains a…

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…