相关论文: ArtLLM: Generating Articulated Assets via 3D LLM

Generating and editing a 3D scene guided by natural language poses a challenge, primarily due to the complexity of specifying the positional relations and volumetric changes within the 3D space. Recent advancements in Large Language Models…

Simulation is a central tool for scalable robot learning, but its effectiveness depends on the quality of object assets. While modern 3D datasets provide rich geometric and kinematic representations, they typically lack the physical…

Converting static 3D meshes into interactable articulated assets is crucial for embodied AI and robotic simulation. However, existing zero-shot pipelines struggle with complex assets due to a critical lack of physical grounding.…

Enabling Large Language Models (LLMs) to comprehend the 3D physical world remains a significant challenge. Due to the lack of large-scale 3D-text pair datasets, the success of LLMs has yet to be replicated in 3D understanding. In this…

3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actionable kinematic information required for…

Animatable 3D human reconstruction from a single image is a challenging problem due to the ambiguity in decoupling geometry, appearance, and deformation. Recent advances in 3D human reconstruction mainly focus on static human modeling, and…

Object-centric reconstruction seeks to recover the 3D structure of a scene through composition of independent objects. While this independence can simplify modeling, it discards strong signals that could improve reconstruction, notably…

Large language models (LLMs) have shown impressive performance on language tasks but face challenges when deployed on resource-constrained devices due to their extensive parameters and reliance on dense multiplications, resulting in high…

The emergence of large language models (LLMs) has revolutionized machine learning and related fields, showcasing remarkable abilities in comprehending, generating, and manipulating human language. However, their conventional usage through…

Crystal structure generation is fundamental to materials science, enabling the discovery of novel materials with desired properties. While existing approaches leverage Large Language Models (LLMs) through extensive fine-tuning on materials…

Location-based services play an critical role in improving the quality of our daily lives. Despite the proliferation of numerous specialized AI models within spatio-temporal context of location-based services, these models struggle to…

This paper presents ShapeLLM, the first 3D Multimodal Large Language Model (LLM) designed for embodied interaction, exploring a universal 3D object understanding with 3D point clouds and languages. ShapeLLM is built upon an improved 3D…

Recent advancements in Multimodal Large Language Models (MLLMs) have significantly enhanced performance on 2D visual tasks. However, improving their spatial intelligence remains a challenge. Existing 3D MLLMs always rely on additional 3D or…

Multi-purpose Large Language Models (LLMs), a subset of generative Artificial Intelligence (AI), have recently made significant progress. While expectations for LLMs to assist systems engineering (SE) tasks are paramount; the…

Discovering materials with desirable properties in an efficient way remains a significant problem in materials science. Many studies have tackled this problem by using different sets of information available about the materials. Among them,…

Despite large-scale pretraining endowing models with language and vision reasoning capabilities, improving their spatial reasoning capability remains challenging due to the lack of data grounded in the 3D world. While it is possible for…

Reconstructing articulated objects prevalent in daily environments is crucial for applications in augmented/virtual reality and robotics. However, existing methods face scalability limitations (requiring 3D supervision or costly…

Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In this work, we introduce a novel superpoint-based perception…

We address the challenge of generating 3D articulated objects in a controllable fashion. Currently, modeling articulated 3D objects is either achieved through laborious manual authoring, or using methods from prior work that are hard to…

We present a learning method for predicting animation skeletons for input 3D models of articulated characters. In contrast to previous approaches that fit pre-defined skeleton templates or predict fixed sets of joints, our method produces…