相关论文: OpenCity3D: What do Vision-Language Models know ab…

The development of Large Vision-Language Models (LVLMs) is striving to catch up with the success of Large Language Models (LLMs), yet it faces more challenges to be resolved. Very recent works enable LVLMs to localize object-level visual…

The rapid advancement of Large Multimodal Models (LMMs) for 2D images and videos has motivated extending these models to understand 3D scenes, aiming for human-like visual-spatial intelligence. Nevertheless, achieving deep spatial…

Vision-and-Language Navigation (VLN) refers to the task of enabling autonomous robots to navigate unfamiliar environments by following natural language instructions. While recent Large Vision-Language Models (LVLMs) have shown promise in…

Previous research has investigated the application of Multimodal Large Language Models (MLLMs) in understanding 3D scenes by interpreting them as videos. These approaches generally depend on comprehensive 3D data inputs, such as point…

Visual Language Models (VLMs) are essential for various tasks, particularly visual reasoning tasks, due to their robust multi-modal information integration, visual reasoning capabilities, and contextual awareness. However, existing \VLMs{}'…

The ability to understand and reason the 3D real world is a crucial milestone towards artificial general intelligence. The current common practice is to finetune Large Language Models (LLMs) with 3D data and texts to enable 3D…

We introduce the task of predicting functional 3D scene graphs for real-world indoor environments from posed RGB-D images. Unlike traditional 3D scene graphs that focus on spatial relationships of objects, functional 3D scene graphs capture…

The advent of Large Language Models (LLMs) has significantly reshaped the trajectory of the AI revolution. Nevertheless, these LLMs exhibit a notable limitation, as they are primarily adept at processing textual information. To address this…

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…

Equitable urban transportation applications require high-fidelity digital representations of the built environment: not just streets and sidewalks, but bike lanes, marked and unmarked crossings, curb ramps and cuts, obstructions, traffic…

Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…

Vision-Language-Action (VLA) models have emerged as a promising framework for enabling generalist robots capable of perceiving, reasoning, and acting in the real world. These models usually build upon pretrained Vision-Language Models…

Construction safety inspections typically involve a human inspector identifying safety concerns on-site. With the rise of powerful Vision Language Models (VLMs), researchers are exploring their use for tasks such as detecting safety rule…

Vision--language models reliably name objects in a scene, but do they represent the 3D layout those objects inhabit? We introduce a 3,034-sample human-curated benchmark targeting three components of spatial understanding: depth-ordered…

In recent years, we have witnessed significant progress in emerging deep learning models, particularly Large Language Models (LLMs) and Vision-Language Models (VLMs). These models have demonstrated promising results, indicating a new era of…

Remote sensing has become a vital tool across sectors such as urban planning, environmental monitoring, and disaster response. While the volume of data generated has increased significantly, traditional vision models are often constrained…

This paper presents novel benchmarks for evaluating vision-language models (VLMs) in zero-shot recognition, focusing on granularity and specificity. Although VLMs excel in tasks like image captioning, they face challenges in open-world…

Object navigation (ObjectNav) requires an agent to navigate through unseen environments to find queried objects. Many previous methods attempted to solve this task by relying on supervised or reinforcement learning, where they are trained…

Multimodal large language models (MLLMs) have shown strong vision-language reasoning abilities but still lack robust 3D spatial understanding, which is critical for autonomous driving. This limitation stems from two key challenges: (1) the…

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…