相关论文: AffordBot: 3D Fine-grained Embodied Reasoning via …

Artificial intelligence is essential to succeed in challenging activities that involve dynamic environments, such as object manipulation tasks in indoor scenes. Most of the state-of-the-art literature explores robotic grasping methods by…

3D object grounding localizes referred objects in a 3D scene from natural language. Unified instance-centric 3D-LLMs aim to solve grounding together with dialog, QA, and captioning, yet many rely on a single pointer-style grounding decision…

Object affordance is an important concept in hand-object interaction, providing information on action possibilities based on human motor capacity and objects' physical property thus benefiting tasks such as action anticipation and robot…

The remarkable potential of multi-modal large language models (MLLMs) in comprehending both vision and language information has been widely acknowledged. However, the scarcity of 3D scenes-language pairs in comparison to their 2D…

Robotic agents need to understand how to interact with objects in their environment, both autonomously and during human-robot interactions. Affordance detection on 3D point clouds, which identifies object regions that allow specific…

Multimodal large language models often struggle with faithful reasoning in complex visual scenes, where intricate entities and relations require precise visual grounding at each step. This reasoning unfaithfulness frequently manifests as…

Leveraging Multi-modal Large Language Models (MLLMs) to create embodied agents offers a promising avenue for tackling real-world tasks. While language-centric embodied agents have garnered substantial attention, MLLM-based embodied agents…

Open-vocabulary 3D affordance detection requires localizing interaction regions on point clouds given novel affordance descriptions. Recent methods extend multimodal large language models (MLLMs) with special output tokens that are decoded…

Affordances represent the inherent effect and action possibilities that objects offer to the agents within a given context. From a theoretical viewpoint, affordances bridge the gap between effect and action, providing a functional…

Humans build viewpoint-independent cognitive maps through navigation, enabling intuitive reasoning about object permanence and spatial relations. We argue that multimodal large language models (MLLMs), despite extensive video training, lack…

Affordance modeling plays an important role in visual understanding. In this paper, we aim to predict affordances of 3D indoor scenes, specifically what human poses are afforded by a given indoor environment, such as sitting on a chair or…

Multimodal Large Language Models (MLLMs) have made remarkable progress in multimodal perception and reasoning by bridging vision and language. However, most existing MLLMs perform reasoning primarily with textual CoT, which limits their…

While large language models (LMs) have shown remarkable capabilities across numerous tasks, they often struggle with simple reasoning and planning in physical environments, such as understanding object permanence or planning household…

Building models that can understand and reason about 3D scenes is difficult owing to the lack of data sources for 3D supervised training and large-scale training regimes. In this work we ask - How can the knowledge in a pre-trained language…

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…

Autonomous artificial intelligence (AI) agents have emerged as promising protocols for automatically understanding the language-based environment, particularly with the exponential development of large language models (LLMs). However, a…

We present a Collaborative Agent-Based Framework for Multi-Image Reasoning. Our approach tackles the challenge of interleaved multimodal reasoning across diverse datasets and task formats by employing a dual-agent system: a language-based…

Interactions with articulated objects are a challenging but important task for mobile robots. To tackle this challenge, we propose a novel closed-loop control pipeline, which integrates manipulation priors from affordance estimation with…

Many everyday robot manipulation skills are affordance-dependent, with success determined by whether the robot contacts the functional object region required by the subsequent action. Current simulation data generators obtain contacts from…

An embodied agent assisting humans is often asked to complete new tasks, and there may not be sufficient time or labeled examples to train the agent to perform these new tasks. Large Language Models (LLMs) trained on considerable knowledge…