相关论文: OpenGround: Active Cognition-based Reasoning for O…

Embodied outdoor scene understanding forms the foundation for autonomous agents to perceive, analyze, and react to dynamic driving environments. However, existing 3D understanding is predominantly based on 2D Vision-Language Models (VLMs),…

Open-set perception in complex traffic environments poses a critical challenge for autonomous driving systems, particularly in identifying previously unseen object categories, which is vital for ensuring safety. Visual Language Models…

Visual grounding (VG) aims at locating the foreground entities that match the given natural language expressions. Previous datasets and methods for classic VG task mainly rely on the prior assumption that the given expression must literally…

Traditional LiDAR-based object detection research primarily focuses on closed-set scenarios, which falls short in complex real-world applications. Directly transferring existing 2D open-vocabulary models with some known LiDAR classes for…

We propose a novel zero-shot approach for keypoint detection on 3D shapes. Point-level reasoning on visual data is challenging as it requires precise localization capability, posing problems even for powerful models like DINO or CLIP.…

In order for robots to interact with objects effectively, they must understand the form and function of each object they encounter. Essentially, robots need to understand which actions each object affords, and where those affordances can be…

Visual grounding aims to localize the object referred to in an image based on a natural language query. Although progress has been made recently, accurately localizing target objects within multiple-instance distractions (multiple objects…

We present lazy visual grounding, a two-stage approach of unsupervised object mask discovery followed by object grounding, for open-vocabulary semantic segmentation. Plenty of the previous art casts this task as pixel-to-text classification…

Ensuring accessible pedestrian navigation requires reasoning about both semantic and spatial aspects of complex urban scenes, a challenge that existing Large Vision-Language Models (LVLMs) struggle to meet. Although these models can…

Open-Vocabulary Detection (OVD) is the task of detecting all interesting objects in a given scene without predefined object classes. Extensive work has been done to deal with the OVD for 2D RGB images, but the exploration of 3D OVD is still…

Large Vision-Language Models (LVLMs) have advanced rapidly by aligning visual patches with the text embedding space, but a fixed visual-token budget forces images to be resized to a uniform pretraining resolution, often erasing fine-grained…

Spatial reasoning -- the ability to perceive and reason about relationships in space -- advances vision-language models (VLMs) from visual perception toward spatial semantic understanding. Existing approaches either revisit local image…

Generalization to unseen tasks is an important ability for few-shot learners to achieve better zero-/few-shot performance on diverse tasks. However, such generalization to vision-language tasks including grounding and generation tasks has…

Traditional Visual Grounding (VG) predominantly relies on textual descriptions to localize objects, a paradigm that inherently struggles with linguistic ambiguity and often ignores non-verbal deictic cues prevalent in real-world…

The development of general robotic systems capable of manipulating in unstructured environments is a significant challenge. While Vision-Language Models(VLM) excel in high-level commonsense reasoning, they lack the fine-grained 3D spatial…

Visual Grounding (VG) aims to localize specific objects in an image according to natural language expressions, serving as a fundamental task in vision-language understanding. However, existing VG benchmarks are mostly derived from datasets…

Recent advances in vision-language models (VLMs) have led to improved performance on tasks such as visual question answering and image captioning. Consequently, these models are now well-positioned to reason about the physical world,…

Simultaneous Localization and Mapping (SLAM) is a foundational component in robotics, AR/VR, and autonomous systems. With the rising focus on spatial AI in recent years, combining SLAM with semantic understanding has become increasingly…

Traditional scene graphs primarily focus on spatial relationships, limiting vision-language models' (VLMs) ability to reason about complex interactions in visual scenes. This paper addresses two key challenges: (1) conventional…

Spatial reasoning is a fundamental aspect of human cognition, enabling intuitive understanding and manipulation of objects in three-dimensional space. While foundation models demonstrate remarkable performance on some benchmarks, they still…