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Recent advancements in implicit 3D representations and generative models have markedly propelled the field of 3D object generation forward. However, it remains a significant challenge to accurately model geometries with defined sharp…

Existing open-vocabulary object detectors typically enlarge their vocabulary sizes by leveraging different forms of weak supervision. This helps generalize to novel objects at inference. Two popular forms of weak-supervision used in…

Driven by the great success of Large Language Models (LLMs) in the 2D image domain, their applications in 3D scene understanding has emerged as a new trend. A key difference between 3D and 2D is that the situation of an egocentric observer…

There is a gap in the understanding of occluded objects in existing large-scale visual language multi-modal models. Current state-of-the-art multi-modal models fail to provide satisfactory results in describing occluded objects through…

3D Multimodal Large Language Models (MLLMs) have recently made substantial advancements. However, their potential remains untapped, primarily due to the limited quantity and suboptimal quality of 3D datasets. Current approaches attempt to…

Understanding human instructions to identify the target objects is vital for perception systems. In recent years, the advancements of Large Language Models (LLMs) have introduced new possibilities for image segmentation. In this work, we…

Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-language grounding. In this work, we focus on multi-step…

Supervised 3D part segmentation models are tailored for a fixed set of objects and parts, limiting their transferability to open-set, real-world scenarios. Recent works have explored vision-language models (VLMs) as a promising alternative,…

Semantic segmentation of 3D point clouds is a challenging problem with numerous real-world applications. While deep learning has revolutionized the field of image semantic segmentation, its impact on point cloud data has been limited so…

Can a Large Language Model (LLM) solve simple abstract reasoning problems? We explore this broad question through a systematic analysis of GPT on the Abstraction and Reasoning Corpus (ARC), a representative benchmark of abstract reasoning…

3D Affordance detection is a challenging problem with broad applications on various robotic tasks. Existing methods typically formulate the detection paradigm as a label-based semantic segmentation task. This paradigm relies on predefined…

Open-world referring segmentation requires grounding unconstrained language expressions to precise pixel-level regions. Existing multimodal large language models (MLLMs) exhibit strong open-world visual grounding, but their outputs remain…

Recent advances in large vision-language models (VLMs) have shown significant promise for 3D scene understanding. Existing VLM-based approaches typically align 3D scene features with the VLM's embedding space. However, this implicit…

Multimodal Large Language Models (MLLMs) demonstrate exceptional semantic reasoning but struggle with 3D spatial perception when restricted to pure RGB inputs. Despite leveraging implicit geometric priors from 3D reconstruction models,…

Large language models (LLMs) can handle a wide variety of general tasks with simple prompts, without the need for task-specific training. Multimodal Large Language Models (MLLMs), built upon LLMs, have demonstrated impressive potential in…

Recent advances in point cloud perception have demonstrated remarkable progress in scene understanding through vision-language alignment leveraging large language models (LLMs). However, existing methods may still encounter challenges in…

Microscopic characterizations, such as Scanning Electron Microscopy (SEM), are widely used in scientific research for visualizing and analyzing microstructures. Determining the scale bars is an important first step of accurate SEM analysis;…

As multimodal language models advance, their application to 3D scene understanding is a fast-growing frontier, driving the development of 3D Vision-Language Models (VLMs). Current methods show strong dependence on object detectors,…

3D visual grounding is a critical skill for household robots, enabling them to navigate, manipulate objects, and answer questions based on their environment. While existing approaches often rely on extensive labeled data or exhibit…

While Large Vision Language Models (LVLMs) are increasingly deployed in real-world applications, their ability to interpret abstract visual inputs remains limited. Specifically, they struggle to comprehend hand-drawn sketches, a modality…