相关论文: PlaceIt3D: Language-Guided Object Placement in Rea…

Physical environments and circumstances are fundamentally dynamic, yet current 3D datasets and evaluation benchmarks tend to concentrate on either dynamic scenarios or dynamic situations in isolation, resulting in incomplete comprehension.…

Enabling agents to understand and interact with complex 3D scenes is a fundamental challenge for embodied artificial intelligence systems. While Multimodal Large Language Models (MLLMs) have achieved significant progress in 2D image…

Large language models (LLMs) and Vision-Language Models (VLMs) have been proven to excel at multiple tasks, such as commonsense reasoning. Powerful as these models can be, they are not grounded in the 3D physical world, which involves…

Evaluating the performance of Multi-modal Large Language Models (MLLMs), integrating both point cloud and language, presents significant challenges. The lack of a comprehensive assessment hampers determining whether these models truly…

3D dense captioning, as an emerging vision-language task, aims to identify and locate each object from a set of point clouds and generate a distinctive natural language sentence for describing each located object. However, the existing…

A new trend in the computer vision community is to capture objects of interest following flexible human command represented by a natural language prompt. However, the progress of using language prompts in driving scenarios is stuck in a…

3D object grounding localizes referred objects in a 3D scene from natural language. Unified instance-centric 3D-LLMs aim to solve grounding together with dialog, QA, and captioning, yet many rely on a single pointer-style grounding decision…

Embodied intelligence fundamentally requires a capability to determine where to act in 3D space. We formalize this requirement as embodied localization -- the problem of predicting executable 3D points conditioned on visual observations and…

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…

We present SceneSuggest: an interactive 3D scene design system providing context-driven suggestions for 3D model retrieval and placement. Using a point-and-click metaphor we specify regions in a scene in which to automatically place and…

Humans excel at forming mental maps of their surroundings, equipping them to understand object relationships and navigate based on language queries. Our previous work, SI Maps (Nanwani L, Agarwal A, Jain K, et al. Instance-level semantic…

New era has unlocked exciting possibilities for extending Large Language Models (LLMs) to tackle 3D vision-language tasks. However, most existing 3D multimodal LLMs (MLLMs) rely on compressing holistic 3D scene information or segmenting…

Zero-shot learning on 3D point cloud data is a related underexplored problem compared to its 2D image counterpart. 3D data brings new challenges for ZSL due to the unavailability of robust pre-trained feature extraction models. To address…

This paper addresses the problem of 3D referring expression comprehension (REC) in autonomous driving scenario, which aims to ground a natural language to the targeted region in LiDAR point clouds. Previous approaches for REC usually focus…

Open-vocabulary querying in 3D space is challenging but essential for scene understanding tasks such as object localization and segmentation. Language-embedded scene representations have made progress by incorporating language features into…

Generating 3D visual scenes is at the forefront of visual generative AI, but current 3D generation techniques struggle with generating scenes with multiple high-resolution objects. Here we introduce Lay-A-Scene, which solves the task of…

Language-guided active sensing is a robotics subtask where a robot with an onboard sensor interacts efficiently with the environment via object manipulation to maximize perceptual information, following given language instructions. These…

3D layout tasks have traditionally concentrated on geometric constraints, but many practical applications demand richer contextual understanding that spans social interactions, cultural traditions, and usage conventions. Existing methods…

3D scene understanding is an important task, and there has been a recent surge of research interest in aligning 3D representations of point clouds with text to empower embodied AI. However, due to the lack of comprehensive 3D benchmarks,…

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…