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

Visual grounding seeks to localize the image region corresponding to a free-form text description. Recently, the strong multimodal capabilities of Large Vision-Language Models (LVLMs) have driven substantial improvements in visual…

In this paper, we address the challenging problem of 3D concept grounding (i.e. segmenting and learning visual concepts) by looking at RGBD images and reasoning about paired questions and answers. Existing visual reasoning approaches…

Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…

Visual commonsense reasoning (VCR) is a challenging multi-modal task, which requires high-level cognition and commonsense reasoning ability about the real world. In recent years, large-scale pre-training approaches have been developed and…

The 180x360 omnidirectional field of view captured by 360-degree cameras enables their use in a wide range of applications such as embodied AI and virtual reality. Although recent advances in multimodal large language models (MLLMs) have…

Efficient target localization and autonomous navigation in complex environments are fundamental to real-world embodied applications. While recent advances in multimodal foundation models have enabled zero-shot object goal navigation,…

Vision-language models (VLMs) like CLIP have been cherished for their ability to perform zero-shot visual recognition on open-vocabulary concepts. This is achieved by selecting the object category whose textual representation bears the…

Unlike Object Detection, Visual Grounding task necessitates the detection of an object described by complex free-form language. To simultaneously model such complex semantic and visual representations, recent state-of-the-art studies adopt…

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…

Locating objects described in natural language presents a significant challenge for autonomous agents. Existing CLIP-based open-vocabulary methods successfully perform 3D object grounding with simple (bare) queries, but cannot cope with…

Current Large Language Models have achieved Olympiad-level logic, yet Vision-Language Models paradoxically falter on elementary spatial tasks like block counting. This capability mismatch reveals a critical ``spatial intelligence gap,''…

Recent advancements in 3D object detection and novel category detection have made significant progress, yet research on learning generalized 3D objectness remains insufficient. In this paper, we delve into learning open-world 3D objectness,…

How can we build robots for open-world semantic navigation tasks, like searching for target objects in novel scenes? While foundation models have the rich knowledge and generalisation needed for these tasks, a suitable scene representation…

The goal of open-vocabulary detection is to identify novel objects based on arbitrary textual descriptions. In this paper, we address open-vocabulary 3D point-cloud detection by a dividing-and-conquering strategy, which involves: 1)…

3D visual grounding is the task of localizing the object in a 3D scene which is referred by a description in natural language. With a wide range of applications ranging from autonomous indoor robotics to AR/VR, the task has recently risen…

Vision-language models (VLMs) have shown impressive zero- and few-shot performance on real-world visual question answering (VQA) benchmarks, alluding to their capabilities as visual reasoning engines. However, the benchmarks being used…

Embodied scene understanding requires not only comprehending visual-spatial information that has been observed but also determining where to explore next in the 3D physical world. Existing 3D Vision-Language (3D-VL) models primarily focus…

We introduce compute-grounded reasoning (CGR), a design paradigm for spatial-aware research agents in which every answerable sub-problem is resolved by deterministic computation before a language model is asked to generate. Spatial Atlas…

Generalization is a pivotal challenge for agents following natural language instructions. To approach this goal, we leverage a vision-language model (VLM) for visual grounding and transfer its vision-language knowledge into reinforcement…

Spatial reasoning from monocular images is essential for autonomous driving, yet current Vision-Language Models (VLMs) still struggle with fine-grained geometric perception, particularly under large scale variation and ambiguous object…