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

Open-vocabulary 3D object detection aims to localize and recognize objects beyond a fixed training taxonomy. In multi-view RGB settings, recent approaches often decouple geometry-based instance construction from semantic labeling,…

3D semantic segmentation on multi-scan large-scale point clouds plays an important role in autonomous systems. Unlike the single-scan-based semantic segmentation task, this task requires distinguishing the motion states of points in…

Open-vocabulary 3D object detection methods are able to localize 3D boxes of classes unseen during training. Despite the name, existing methods rely on user-specified classes both at training and inference. We propose to study…

We present SpatialPrompt, an Extended Reality(XR) system that turns spatial sketches into executable constraints for controllable 3D generation. Users draw rough structures with a 3D pen and add voice prompts for semantic and stylistic…

Reconstructing real-world objects and estimating their movable joint structures are pivotal technologies within the field of robotics. Previous research has predominantly focused on supervised approaches, relying on extensively annotated…

Vision-language models (VLMs) struggle with 3D-related tasks such as spatial cognition and physical understanding, which are crucial for real-world applications like robotics and embodied agents. We attribute this to a modality gap between…

In this paper, we investigate Open-Vocabulary 3D Instance Segmentation (OV-3DIS) with free-form language instructions. Earlier works that rely on only annotated base categories for training suffer from limited generalization to unseen novel…

We present Ov3R, a novel framework for open-vocabulary semantic 3D reconstruction from RGB video streams, designed to advance Spatial AI. The system features two key components: CLIP3R, a CLIP-informed 3D reconstruction module that predicts…

Open-vocabulary 3D segmentation enables exploration of 3D spaces using free-form text descriptions. Existing methods for open-vocabulary 3D instance segmentation primarily focus on identifying object-level instances but struggle with…

Understanding the 3D semantics of a scene is a fundamental problem for various scenarios such as embodied agents. While NeRFs and 3DGS excel at novel-view synthesis, previous methods for understanding their semantics have been limited to…

Recent advancements in 3D perception systems have significantly improved their ability to perform visual recognition tasks such as segmentation. However, these systems still heavily rely on explicit human instruction to identify target…

Relation context has been proved to be useful for many challenging vision tasks. In the field of 3D object detection, previous methods have been taking the advantage of context encoding, graph embedding, or explicit relation reasoning to…

3D vision-language (VL) reasoning has gained significant attention due to its potential to bridge the 3D physical world with natural language descriptions. Existing approaches typically follow task-specific, highly specialized paradigms.…

Spatial understanding remains a weakness of Large Vision-Language Models (LVLMs). Existing supervised fine-tuning (SFT) and recent reinforcement learning with verifiable rewards (RLVR) pipelines depend on costly supervision, specialized…

With the rapid advancement of artificial intelligence and robotics, the integration of Large Language Models (LLMs) with 3D vision is emerging as a transformative approach to enhancing robotic sensing technologies. This convergence enables…

To act in the world, a model must name what it sees and know where it is in 3D. Today's vision-language models (VLMs) excel at open-ended 2D description and grounding, yet multi-object 3D detection remains largely missing from the VLM…

Though recent advances in vision-language models (VLMs) have achieved remarkable progress across a wide range of multimodal tasks, understanding 3D spatial relationships from limited views remains a significant challenge. Previous reasoning…

Recent vision-language pre-training models have exhibited remarkable generalization ability in zero-shot recognition tasks. Previous open-vocabulary 3D scene understanding methods mostly focus on training 3D models using either image or…

3D scene understanding spans reasoning about free space, object grounding, hypothetical object insertions, complex geometric relationships, and integrating all of these with external tools and data sources. Existing 3D understanding methods…

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…