相关论文: LOC: A General Language-Guided Framework for Open-…

The pre-trained vision-language model, exemplified by CLIP, advances zero-shot semantic segmentation by aligning visual features with class embeddings through a transformer decoder to generate semantic masks. Despite its effectiveness,…

3D occupancy prediction is an emerging task that aims to estimate the occupancy states and semantics of 3D scenes using multi-view images. However, image-based scene perception encounters significant challenges in achieving accurate…

We present Language-mediated, Object-centric Representation Learning (LORL), a paradigm for learning disentangled, object-centric scene representations from vision and language. LORL builds upon recent advances in unsupervised object…

Occupancy prediction provides critical geometric and semantic understanding for robotics but faces efficiency-accuracy trade-offs. Current dense methods suffer computational waste on empty voxels, while sparse query-based approaches lack…

In-context learning (ICL) enables Large Vision-Language Models (LVLMs) to adapt to new tasks without parameter updates, using a few demonstrations from a large support set. However, selecting informative demonstrations leads to high…

Deep neural networks are playing an important role in state-of-the-art visual recognition. To represent high-level visual concepts, modern networks are equipped with large convolutional layers, which use a large number of filters and…

Creating machines capable of understanding the world in 3D is essential in assisting designers that build and edit 3D environments and robots navigating and interacting within a three-dimensional space. Inspired by advances in language and…

Research on 3D Vision-Language Models (3D-VLMs) is gaining increasing attention, which is crucial for developing embodied AI within 3D scenes, such as visual navigation and embodied question answering. Due to the high density of visual…

The advancement of object detection (OD) in open-vocabulary and open-world scenarios is a critical challenge in computer vision. This work introduces OmDet, a novel language-aware object detection architecture, and an innovative training…

Language-guided grasping has emerged as a promising paradigm for enabling robots to identify and manipulate target objects through natural language instructions, yet it remains highly challenging in cluttered or occluded scenes. Existing…

Conventional object detectors typically operate under a closed-set assumption, limiting recognition to a predefined set of base classes seen during training. Open-vocabulary object detection (OVD) addresses this limitation by leveraging…

Unsupervised learning of object-centric representations in dynamic visual scenes is challenging. Unlike most previous approaches that learn to decompose 2D images, we present DynaVol, a 3D scene generative model that unifies geometric…

Recent open-vocabulary detection methods aim to detect novel objects by distilling knowledge from vision-language models (VLMs) trained on a vast amount of image-text pairs. To improve the effectiveness of these methods, researchers have…

Both generative learning and discriminative learning have recently witnessed remarkable progress using Deep Neural Networks (DNNs). For structured input synthesis and structured output prediction problems (e.g., layout-to-image synthesis…

Recent advances in open-vocabulary object detection focus primarily on two aspects: scaling up datasets and leveraging contrastive learning to align language and vision modalities. However, these approaches often neglect internal…

LiDAR-based 3D object detection has recently seen significant advancements through active learning (AL), attaining satisfactory performance by training on a small fraction of strategically selected point clouds. However, in real-world…

Although vision models such as Contrastive Language-Image Pre-Training (CLIP) show impressive generalization performance, their zero-shot robustness is still limited under Out-of-Distribution (OOD) scenarios without fine-tuning. Instead of…

Service robots are expected to operate effectively in human-centric environments for long periods of time. In such realistic scenarios, fine-grained object categorization is as important as basic-level object categorization. We tackle this…

With the rapid proliferation of autonomous driving, there has been a heightened focus on the research of lidar-based 3D semantic segmentation and object detection methodologies, aiming to ensure the safety of traffic participants. In recent…

Occupancy prediction infers fine-grained 3D geometry and semantics from camera images of the surrounding environment, making it a critical perception task for autonomous driving. Existing methods either adopt dense grids as scene…