相关论文: SPAZER: Spatial-Semantic Progressive Reasoning Age…
We present a fast, spatio-temporal scene understanding framework based on Visual Geometry Grounded Transformer (VGGT). The proposed pipeline is designed to enable efficient, close to real-time performance, supporting applications including…
While Vision-Language Models (VLMs) show significant promise for end-to-end autonomous driving by leveraging the common sense embedded in language models, their reliance on 2D image cues for complex scene understanding and decision-making…
We propose a new spatial memory module and a spatial reasoner for the Visual Grounding (VG) task. The goal of this task is to find a certain object in an image based on a given textual query. Our work focuses on integrating the regions of a…
End-to-end autonomous driving methods built on vision language models (VLMs) have undergone rapid development driven by their universal visual understanding and strong reasoning capabilities obtained from the large-scale pretraining.…
Understanding user instructions and object spatial relations in surrounding environments is crucial for intelligent robot systems to assist humans in various tasks. The natural language and spatial reasoning capabilities of Vision-Language…
Video Anomaly Detection (VAD) has traditionally been framed as binary classification or outlier detection, providing neither interpretable reasoning nor precise spatial localization of anomalous events. While Vision-Language Models (VLMs)…
We present SceneVGGT, a spatio-temporal 3D scene understanding framework that combines SLAM with semantic mapping for autonomous and assistive navigation. Built on VGGT, our method scales to long video streams via a sliding-window pipeline.…
Recent advancements in Multimodal Large Language Models (MLLMs) have significantly enhanced performance on 2D visual tasks. However, improving their spatial intelligence remains a challenge. Existing 3D MLLMs always rely on additional 3D or…
Following human instructions to explore and search for a specified target in an unfamiliar environment is a crucial skill for mobile service robots. Most of the previous works on object goal navigation have typically focused on a single…
3D Visual Grounding (3DVG) involves localizing target objects in 3D point clouds based on natural language. While prior work has made strides using textual descriptions, leveraging spoken language-known as Audio-based 3D Visual…
Remote sensing visual grounding (RSVG) aims to localize objects in remote sensing images based on free-form natural language expressions. Existing approaches are typically constrained to closed-set vocabularies, limiting their applicability…
Object Goal Navigation (ObjectNav) challenges robots to find objects in unseen environments, demanding sophisticated reasoning. While Vision-Language Models (VLMs) show potential, current ObjectNav methods often employ them superficially,…
Zero-shot object navigation requires agents to locate unseen target objects in unfamiliar environments without prior maps or task-specific training which remains a significant challenge. Although recent advancements in vision-language…
While spatial reasoning has made progress in object localization relationships, it often overlooks object orientation-a key factor in 6-DoF fine-grained manipulation. Traditional pose representations rely on pre-defined frames or templates,…
Remote sensing visual grounding (RSVG) aims to localize objects in remote sensing imagery according to natural language expressions. Previous methods typically rely on sentence-level vision-language alignment, which struggles to exploit…
Zero-shot object navigation (ZSON) allows robots to find target objects in unfamiliar environments using natural language instructions, without relying on pre-built maps or task-specific training. Recent general-purpose models, such as…
We present an approach to improve 3D vehicle labeling in self-driving applications through zero-shot inference of vehicle information, leveraging Vehicle Make and Model Recognition (VMMR) methods. The proposed approach utilizes a Vision…
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,…
Visual reasoning is challenging, requiring both precise object grounding and understanding complex spatial relationships. Existing methods fall into two camps: language-only chain-of-thought approaches, which demand large-scale (image,…
Vision-Language Models (VLMs) have advanced rapidly in multimodal perception and language understanding, yet it remains unclear whether they can reliably ground language into spatially coherent, plausibly executable actions in 3D digital…