相关论文: SpatialReasoner: Active Perception for Large-Scale…

Despite recent advances on multi-modal models, 3D spatial reasoning remains a challenging task for state-of-the-art open-source and proprietary models. Recent studies explore data-driven approaches and achieve enhanced spatial reasoning…

Open-vocabulary 3D visual grounding aims to localize target objects based on free-form language queries, which is crucial for embodied AI applications such as autonomous navigation, robotics, and augmented reality. Learning 3D language…

Egocentric video understanding is inherently complex due to the dynamic 4D nature of the environment, where camera motion and object displacements necessitate a continuous re-evaluation of spatial relations. In this work, we target a suite…

Spatial understanding is a crucial capability that enables robots to perceive their surroundings, reason about their environment, and interact with it meaningfully. In modern robotics, these capabilities are increasingly provided by…

The integration of language and 3D perception is critical for embodied AI and robotic systems to perceive, understand, and interact with the physical world. Spatial reasoning, a key capability for understanding spatial relationships between…

Visual Language Models (VLMs) have increasingly become the main paradigm for understanding indoor scenes, but they still struggle with metric and spatial reasoning. Current approaches rely on end-to-end video understanding or large-scale…

3D spatial reasoning is the ability to analyze and interpret the positions, orientations, and spatial relationships of objects within the 3D space. This allows models to develop a comprehensive understanding of the 3D scene, enabling their…

Spatial reasoning in large-scale 3D environments such as warehouses remains a significant challenge for vision-language systems due to scene clutter, occlusions, and the need for precise spatial understanding. Existing models often struggle…

Multimodal large language models (MLLMs) have achieved remarkable progress in vision-language tasks, but they continue to struggle with spatial understanding. Existing spatial MLLMs often rely on explicit 3D inputs or architecture-specific…

Despite advancements in Multi-modal Large Language Models (MLLMs) for scene understanding, their performance on complex spatial reasoning tasks requiring mental simulation remains significantly limited. Current methods often rely on passive…

Spatial reasoning is an important component of human intelligence. We can imagine the shapes of 3D objects and reason about their spatial relations by merely looking at their three-view line drawings in 2D, with different levels of…

We develop an approach for active semantic perception which refers to using the semantics of the scene for tasks such as exploration. We build a compact, hierarchical multi-layer scene graph that can represent large, complex indoor…

While contemporary Vision-Language Models (VLMs) excel at 2D visual understanding, they remain constrained by a passive, 2D-centric paradigm that severely limits genuine 3D spatial reasoning. To bridge this gap, we introduce Think3D, a…

Recent advances in Multimodal Large Language Models (MLLMs) have significantly improved 2D visual understanding, prompting interest in their application to complex 3D reasoning tasks. However, it remains unclear whether these models can…

Spatial reasoning remains a fundamental challenge for Vision-Language Models (VLMs), with current approaches struggling to achieve robust performance despite recent advances. We identify that this limitation stems from a critical gap:…

Achieving human-like spatial intelligence for vision-language models (VLMs) requires inferring 3D structures from 2D observations, recognizing object properties and relations in 3D space, and performing high-level spatial reasoning. In this…

With the current surge in spatial reasoning explorations, researchers have made significant progress in understanding indoor scenes, but still struggle with diverse applications such as robotics and autonomous driving. This paper aims to…

Active 3D reconstruction enables an agent to autonomously select viewpoints to efficiently obtain accurate and complete scene geometry, rather than passively reconstructing scenes from pre-collected images. However, existing active…

Recent advances in large vision-language models (VLMs) have shown significant promise for 3D scene understanding. Existing VLM-based approaches typically align 3D scene features with the VLM's embedding space. However, this implicit…

Recent advances in deep thinking models have demonstrated remarkable reasoning capabilities on mathematical and coding tasks. However, their effectiveness in embodied domains which require continuous interaction with environments through…