相关论文: Situat3DChange: Situated 3D Change Understanding D…

In the evolving landscape of transportation systems, integrating Large Language Models (LLMs) offers a promising frontier for advancing intelligent decision-making across various applications. This paper introduces a novel 3-dimensional…

Large multimodal models (LMMs) show strong visual-linguistic reasoning but their capacity for spatial decision-making and action remains unclear. In this work, we investigate whether LMMs can achieve embodied spatial action like human…

The advent of generalist Large Language Models (LLMs) and Large Vision Models (VLMs) have streamlined the construction of semantically enriched maps that can enable robots to ground high-level reasoning and planning into their…

Reliable three-dimensional human pose estimation (3D HPE) remains challenging due to the differences in viewpoints, environments, and camera conventions among datasets. As a result, methods that achieve near-optimal in-dataset accuracy…

Multimodal Large Language Models (MLLMs) have made significant progress in tasks such as image captioning and question answering. However, while these models can generate realistic captions, they often struggle with providing precise…

Synthesizing realistic 3D indoor scenes remains challenging due to data scarcity and the difficulty of simultaneously enforcing global architectural constraints and local semantic consistency. Existing approaches often overlook structural…

Despite the remarkable progress of Multimodal Large Language Models (MLLMs) in 2D vision-language tasks, their application to complex 3D scene manipulation remains underexplored. In this paper, we bridge this critical gap by tackling three…

Humans possess spatial reasoning abilities that enable them to understand spaces through multimodal observations, such as vision and sound. Large multimodal reasoning models extend these abilities by learning to perceive and reason, showing…

3D scene understanding is a long-standing challenge in computer vision and a key component in enabling mixed reality, wearable computing, and embodied AI. Providing a solution to these applications requires a multifaceted approach that…

Recent advances in large language models (LLMs) demonstrate their impressive reasoning capabilities. However, the reasoning confined to internal parametric space limits LLMs' access to real-time information and understanding of the physical…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Multimodal large language models (MLLMs) have demonstrated remarkable capabilities in visual understanding, but their application to long-term Earth observation analysis remains limited, primarily focusing on single-temporal or bi-temporal…

Recent Multimodal Large Language Models (MLLMs) are remarkable in vision-language tasks, such as image captioning and question answering, but lack the essential perception ability, i.e., object detection. In this work, we address this…

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…

The integration of language and 3D perception is crucial for embodied agents and robots that comprehend and interact with the physical world. While large language models (LLMs) have demonstrated impressive language understanding and…

Humans excel at forming mental maps of their surroundings, equipping them to understand object relationships and navigate based on language queries. Our previous work, SI Maps (Nanwani L, Agarwal A, Jain K, et al. Instance-level semantic…

The goal of point cloud localization based on linguistic description is to identify a 3D position using textual description in large urban environments, which has potential applications in various fields, such as determining the location…

Recently, Large Language Models (LLMs) and Multimodal Large Language Models (MLLMs) have shown promise in instruction following and 2D image understanding. While these models are powerful, they have not yet been developed to comprehend the…

Spatial reasoning is a fundamental capability for embodied intelligence, especially for fine-grained manipulation tasks such as robotic assembly. While recent vision-language models (VLMs) exhibit preliminary spatial awareness, they largely…

Accurate, up-to-date High-Definition (HD) maps are critical for urban planning, infrastructure monitoring, and autonomous navigation. However, these maps quickly become outdated as environments evolve, creating a need for robust methods…