相关论文: Point2Act: Efficient 3D Distillation of Multimodal…

The remarkable advancements in large language models (LLMs) have brought about significant improvements in Natural Language Processing(NLP) tasks. This paper presents a comprehensive review of in-context learning techniques, focusing on…

Applying Gaussian Splatting to perception tasks for 3D scene understanding is becoming increasingly popular. Most existing works primarily focus on rendering 2D feature maps from novel viewpoints, which leads to an imprecise 3D language…

Controlling hand exoskeletons to assist individuals with grasping tasks poses a challenge due to the difficulty in understanding user intentions. We propose that most daily grasping tasks during activities of daily living (ADL) can be…

To perform tasks specified by natural language instructions, autonomous agents need to extract semantically meaningful representations of language and map it to visual elements and actions in the environment. This problem is called…

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…

Task-oriented grasping, which involves grasping specific parts of objects based on their functions, is crucial for developing advanced robotic systems capable of performing complex tasks in dynamic environments. In this paper, we propose a…

Large language models (LLMs) have demonstrated remarkable capabilities in tool learning. In real-world scenarios, user queries are often ambiguous and incomplete, requiring effective clarification. However, existing interactive…

Generative video modeling has emerged as a compelling tool to zero-shot reason about plausible physical interactions for open-world manipulation. Yet, it remains a challenge to translate such human-led motions into the low-level actions…

Recent advances in natural-domain multi-modal large language models (MLLMs) have demonstrated effective spatial reasoning through visual and textual prompting. However, their direct transfer to remote sensing (RS) is hindered by…

Driven by large-scale contrastive vision-language pre-trained models such as CLIP, recent advancements in the image-text matching task have achieved remarkable success in representation learning. Due to image-level visual-language…

While diffusion models excel at generating high-quality images, they often struggle with accurate counting, attributes, and spatial relationships in complex multi-object scenes. One potential solution involves employing Multimodal Large…

Active vision, also known as active perception, refers to the process of actively selecting where and how to look in order to gather task-relevant information. It is a critical component of efficient perception and decision-making in humans…

Traditional augmented reality (AR) systems predominantly rely on fixed class detectors or fiducial markers, limiting their ability to interpret complex, open-vocabulary natural language queries. We present a modular AR agent system that…

Vision-and-Language Navigation (VLN) aims to enable an embodied agent to follow natural-language instructions and navigate to a target location in unseen 3D environments. We argue that adapting VLMs to VLN requires endowing them with two…

Large language models (LLMs) have been effectively used for many computer vision tasks, including image classification. In this paper, we present a simple yet effective approach for zero-shot image classification using multimodal LLMs.…

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…

Learning accurate models of the physical world is required for a lot of robotic manipulation tasks. However, during manipulation, robots are expected to interact with unknown workpieces so that building predictive models which can…

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…

The ability for robots to perform efficient and zero-shot grasping of object parts is crucial for practical applications and is becoming prevalent with recent advances in Vision-Language Models (VLMs). To bridge the 2D-to-3D gap for…

Point clouds provide a compact and expressive representation of 3D objects, and have recently been integrated into multimodal large language models (MLLMs). However, existing methods primarily focus on static objects, while understanding…