相关论文: 3D Aware Region Prompted Vision Language Model

Vision-Language-Action (VLA) models provide a promising paradigm for robot learning by integrating visual perception with language-guided policy learning. However, most existing approaches rely on 2D visual inputs to perform actions in 3D…

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…

Score Distillation Sampling (SDS) enables high-quality text-to-3D generation by supervising 3D models through the denoising of multi-view 2D renderings, using a pretrained text-to-image diffusion model to align with the input prompt and…

Precise spatial understanding from multi-view images remains a fundamental challenge for Multimodal Large Language Models (MLLMs), as their visual representations are predominantly semantic and lack explicit geometric grounding. While…

Most existing methods for training-free open-vocabulary semantic segmentation are based on CLIP. While these approaches have made progress, they often face challenges in precise localization or require complex pipelines to combine separate…

Text-to-3D generation has advanced rapidly, yet state-of-the-art models, encompassing both optimization-based and feed-forward architectures, still face two fundamental limitations. First, they struggle with coarse semantic alignment, often…

This paper introduces Scene-LLM, a 3D-visual-language model that enhances embodied agents' abilities in interactive 3D indoor environments by integrating the reasoning strengths of Large Language Models (LLMs). Scene-LLM adopts a hybrid 3D…

Understanding 3D scenes in open-world settings poses fundamental challenges for vision and robotics, particularly due to the limitations of closed-vocabulary supervision and static annotations. To address this, we propose a unified…

3D Referring Expression Segmentation (3D-RES) aims to segment 3D objects by correlating referring expressions with point clouds. However, traditional approaches frequently encounter issues like over-segmentation or mis-segmentation, due to…

Functionality segmentation in 3D scenes requires an agent to ground implicit natural-language instructions into precise masks of fine-grained interactive elements. Existing methods rely on fragmented pipelines that suffer from visual…

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…

Vision--language models reliably name objects in a scene, but do they represent the 3D layout those objects inhabit? We introduce a 3,034-sample human-curated benchmark targeting three components of spatial understanding: depth-ordered…

Modern 3D object detection datasets are constrained by narrow class taxonomies and costly manual annotations, limiting their ability to scale to open-world settings. In contrast, 2D vision-language models trained on web-scale image-text…

This study introduces SpatialPrompting, a novel framework that harnesses the emergent reasoning capabilities of off-the-shelf multimodal large language models to achieve zero-shot spatial reasoning in three-dimensional (3D) environments.…

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…

Recent unified 3D generation models have made remarkable progress in producing high-quality 3D assets from a single image. Notably, layout-aware approaches such as SAM3D can reconstruct multiple objects while preserving their spatial…

While Multimodal Large Language Models demonstrate impressive semantic capabilities, they often suffer from spatial blindness, struggling with fine-grained geometric reasoning and physical dynamics. Existing solutions typically rely on…

Open-vocabulary 3D object detection (OV-3DDet) aims to localize and recognize both seen and previously unseen object categories within any new 3D scene. While language and vision foundation models have achieved success in handling various…

Modern extended reality XR systems provide rich analysis of image data and fusion of sensor input and demand AR/VR applications that can reason about 3D scenes in a semantic manner. We present a spatial reasoning framework that bridges…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…