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

A metric-accurate semantic 3D representation is essential for many robotic tasks. This work proposes a simple, yet powerful, way to integrate the 2D embeddings of a Vision-Language Model in a metric-accurate 3D representation at real-time.…

Text-driven object insertion in 3D scenes is an emerging task that enables intuitive scene editing through natural language. However, existing 2D editing-based methods often rely on spatial priors such as 2D masks or 3D bounding boxes, and…

While multimodal large language models (MLLMs) have demonstrated extraordinary vision-language understanding capabilities, their abilities to solve instance-level visual-language problems beyond a single image warrant further exploration.…

Recent progress in 3D scene understanding has explored visual grounding (3DVG) to localize a target object through a language description. However, existing methods only consider the dependency between the entire sentence and the target…

Training models to apply linguistic knowledge and visual concepts from 2D images to 3D world understanding is a promising direction that researchers have only recently started to explore. In this work, we design a novel 3D pre-training…

Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…

Despite encouraging progress in 3D scene understanding, it remains challenging to develop an effective Large Multi-modal Model (LMM) that is capable of understanding and reasoning in complex 3D environments. Most previous methods typically…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

Seemingly simple natural language requests to a robot are generally underspecified, for example "Can you bring me the wireless mouse?" Flat images of candidate mice may not provide the discriminative information needed for "wireless." The…

The 3D visual grounding task aims to ground a natural language description to the targeted object in a 3D scene, which is usually represented in 3D point clouds. Previous works studied visual grounding under specific views. The…

Robots collaborating with humans must convert natural language goals into actionable, physically grounded decisions. For example, executing a command such as "go two meters to the right of the fridge" requires grounding semantic references,…

One key challenge in Augmented Reality is the placement of virtual content in natural locations. Most existing automated techniques can only work with a closed-vocabulary, fixed set of objects. In this paper, we introduce and evaluate…

Despite recent progress in 3D-LLMs, they remain limited in accurately grounding language to visual and spatial elements in 3D environments. This limitation stems in part from training data that focuses on language reasoning rather than…

In this work, we focus on the problem of grounding language by training an agent to follow a set of natural language instructions and navigate to a target object in an environment. The agent receives visual information through raw pixels…

A 3D scene graph represents a compact scene model by capturing both the objects present and the semantic relationships between them, making it a promising structure for robotic applications. To effectively interact with users, an embodied…

3D facial landmark localization has proven to be of particular use for applications, such as face tracking, 3D face modeling, and image-based 3D face reconstruction. In the supervised learning case, such methods usually rely on 3D landmark…

Reasoning segmentation aims to segment target objects in complex scenes based on human intent and spatial reasoning. While recent multimodal large language models (MLLMs) have demonstrated impressive 2D image reasoning segmentation,…

Affordance detection and pose estimation are of great importance in many robotic applications. Their combination helps the robot gain an enhanced manipulation capability, in which the generated pose can facilitate the corresponding…

Recently, 3D generative models have made impressive progress, enabling the generation of almost arbitrary 3D assets from text or image inputs. However, these approaches generate objects in isolation without any consideration for the scene…

We propose Point2Act, which directly retrieves the 3D action point relevant to a contextually described task, leveraging Multimodal Large Language Models (MLLMs). Foundation models opened the possibility for generalist robots that can…