相关论文: SoPE: Spherical Coordinate-Based Positional Embedd…

Robot vision has greatly benefited from advancements in multimodal fusion techniques and vision-language models (VLMs). We adopt a task-oriented perspective to systematically review the applications and advancements of multimodal fusion…

We present a new approach to unsupervised shape correspondence learning between pairs of point clouds. We make the first attempt to adapt the classical locally linear embedding algorithm (LLE) -- originally designed for nonlinear…

Vision-Language Models (VLMs) have made striking progress, yet their spatial reasoning remains fragile: models that answer an original input correctly can still fail under paired transformations with predictable answer mappings, revealing a…

The emergence of large vision-language models (VLMs) has significantly enhanced the efficiency and flexibility of geospatial interpretation. However, general-purpose VLMs remain suboptimal for remote sensing (RS) tasks. Existing geospatial…

As data requirements continue to grow, efficient learning increasingly depends on the curation and distillation of high-value data rather than brute-force scaling of model sizes. In the case of a hyperspectral image (HSI), the challenge is…

Multimodal Small-to-Medium sized Language Models (MSLMs) have demonstrated strong capabilities in integrating visual and textual information but still face significant limitations in visual comprehension and mathematical reasoning,…

3D human pose estimation (3D HPE) has emerged as a prominent research topic, particularly in the realm of RGB-based methods. However, the use of RGB images is often limited by issues such as occlusion and privacy constraints. Consequently,…

Recent learning-based approaches have achieved impressive results in the field of single-shot camera localization. However, how best to fuse multiple modalities (e.g., image and depth) and to deal with degraded or missing input are less…

Human drivers adeptly navigate complex scenarios by utilizing rich attentional semantics, but the current autonomous systems struggle to replicate this ability, as they often lose critical semantic information when converting 2D…

A metric-accurate semantic 3D representation is essential for many robotic tasks. This work proposes a simple, yet powerful, way to integrate the 2D embeddings of a Vision-Language Model in a metric-accurate 3D representation at real-time.…

Visual relocalization is crucial for autonomous visual localization and navigation of mobile robotics. Due to the improvement of CNN-based object detection algorithm, the robustness of visual relocalization is greatly enhanced especially in…

Statistical shape modeling (SSM) is a powerful computational framework for quantifying and analyzing the geometric variability of anatomical structures, facilitating advancements in medical research, diagnostics, and treatment planning.…

While Vision-Language Models (VLMs) show significant promise for end-to-end autonomous driving by leveraging the common sense embedded in language models, their reliance on 2D image cues for complex scene understanding and decision-making…

Vision-language-action (VLA) models have recently shown strong potential in enabling robots to follow language instructions and execute precise actions. However, most VLAs are built upon vision-language models pretrained solely on 2D data,…

Zero-shot Vision-and-Language Navigation (VLN) agents leveraging Large Language Models (LLMs) excel in generalization but suffer from insufficient spatial perception. Focusing on complex continuous environments, we categorize key perceptual…

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…

Satellite imagery differs fundamentally from natural images: its aerial viewpoint, very high resolution, diverse scale variations, and abundance of small objects demand both region-level spatial reasoning and holistic scene understanding.…

Multi-modal large language models (MLLMs) have shown remarkable progress in integrating visual and linguistic understanding. Recent efforts have extended these capabilities to 3D understanding through encoder-based architectures that rely…

Large-scale knowledge bases have currently reached impressive sizes; however, these knowledge bases are still far from complete. In addition, most of the existing methods for knowledge base completion only consider the direct links between…

Existing self-supervised learning (SSL) methods primarily learn object-invariant representations but often neglect the spatial structure and relationships among object parts. To address this limitation, we introduce Spatial Prediction (SP),…