相关论文: CoSMo3D: Open-World Promptable 3D Semantic Part Se…

Semantic Segmentation combines two sub-tasks: the identification of pixel-level image masks and the application of semantic labels to those masks. Recently, so-called Foundation Models have been introduced; general models trained on very…

Object recognition has seen significant progress in the image domain, with focus primarily on 2D perception. We propose to leverage existing large-scale datasets of 3D models to understand the underlying 3D structure of objects seen in an…

Large language models (LLMs) achieve impressive results over various tasks, and ever-expanding public repositories contain an abundance of pre-trained models. Therefore, identifying the best-performing LLM for a given task is a significant…

Generalizable articulated object manipulation is essential for home-assistant robots. Recent efforts focus on imitation learning from demonstrations or reinforcement learning in simulation, however, due to the prohibitive costs of…

Large Language Models (LLMs) can help robots reason about abstract task specifications. This requires augmenting classical representations of the environment used by robots, such as point-clouds and meshes, with natural language-based…

Recent advances in pixel-level tasks (e.g. segmentation) illustrate the benefit of of long-range interactions between aggregated region-based representations that can enhance local features. However, such aggregated representations, often…

In this work, we present COSINE, a unified open-world segmentation model that consolidates open-vocabulary segmentation and in-context segmentation with multi-modal prompts (e.g., text and image). COSINE exploits foundation models to…

Recent segmentation models couple large language models (LLMs) with mask decoders to ground complex language expressions into masks, yet their instructions remain target-referential: they describe, constrain, or imply the region to be…

Existing 3D instance segmentation methods typically assume that all semantic classes to be segmented would be available during training and only seen categories are segmented at inference. We argue that such a closed-world assumption is…

Segmentation is vital for ophthalmology image analysis. But its various modal images hinder most of the existing segmentation algorithms applications, as they rely on training based on a large number of labels or hold weak generalization…

Reconstructing semantic 3D building models at the level of detail (LoD) 3 is a long-standing challenge. Unlike mesh-based models, they require watertight geometry and object-wise semantics at the fa\c{c}ade level. The principal challenge of…

Autonomous robotic systems require spatio-temporal understanding of dynamic environments to ensure reliable navigation and interaction. While Vision-Language Models (VLMs) provide open-world semantic priors, they lack grounding in 3D…

Spatial reasoning, the ability to understand and interpret the 3D structure of the world, is a critical yet underdeveloped capability in Multimodal Large Language Models (MLLMs). Current methods predominantly rely on verbal descriptive…

Promptable segmentation foundation models such as SAM3 have demonstrated strong generalization capabilities through interactive and concept-based prompting. However, their direct applicability to medical image segmentation remains limited…

Embodied navigation demands comprehensive scene understanding and precise spatial reasoning. While image-text models excel at interpreting pixel-level color and lighting cues, 3D-text models capture volumetric structure and spatial…

Recent advancements in multimodal large language models (LLMs) have demonstrated significant potential across various domains, particularly in concept reasoning. However, their applications in understanding 3D environments remain limited,…

Precise spatial understanding from multi-view images remains a fundamental challenge for Multimodal Large Language Models (MLLMs), as their visual representations are predominantly semantic and lack explicit geometric grounding. While…

Large language models (LLMs) have demonstrated emergent abilities across diverse tasks, raising the question of whether they acquire internal world models. In this work, we investigate whether LLMs implicitly encode linear spatial world…

As robots begin to cohabit with humans in semi-structured environments, the need arises to understand instructions involving rich variability---for instance, learning to ground symbols in the physical world. Realistically, this task must…

Semantic segmentation in hyperbolic space enables compact modeling of hierarchical structure while providing inherent uncertainty quantification. Prior approaches predominantly rely on the Poincar\'e ball model, which suffers from numerical…