相关论文: Utonia: Toward One Encoder for All Point Clouds

The current trend in computer vision is to utilize one universal model to address all various tasks. Achieving such a universal model inevitably requires incorporating multi-domain data for joint training to learn across multiple problem…

We propose a novel approach to self-supervised learning of point cloud representations by differentiable neural rendering. Motivated by the fact that informative point cloud features should be able to encode rich geometry and appearance…

The convenience of 3D sensors has led to an increase in the use of 3D point clouds in various applications. However, the differences in acquisition devices or scenarios lead to divergence in the data distribution of point clouds, which…

Modern image encoders achieve high generalization by decoupling semantic meaning from resolution, an ability yet to be fully realized in the 3D domain. We investigate the failure of 3D point cloud encoders to achieve similar generalization…

In this work, we present Uni3DL, a unified model for 3D and Language understanding. Distinct from existing unified vision-language models in 3D which are limited in task variety and predominantly dependent on projected multi-view images,…

Scaling large multimodal models (LMMs) to 3D understanding poses unique challenges: point cloud data is sparse and irregular, existing models rely on fragmented architectures with modality-specific encoders, and training pipelines often…

With the rapid advancement of technology, 3D data acquisition and utilization have become increasingly prevalent across various fields, including computer vision, robotics, and geospatial analysis. 3D data, captured through methods such as…

The scale diversity of point cloud data presents significant challenges in developing unified representation learning techniques for 3D vision. Currently, there are few unified 3D models, and no existing pre-training method is equally…

Currently, vision encoder models like Vision Transformers (ViTs) typically excel at image recognition tasks but cannot simultaneously support text recognition like human visual recognition. To address this limitation, we propose UNIT, a…

Although transformers have demonstrated remarkable capabilities across various domains, their quadratic attention mechanisms introduce significant computational overhead when processing long-sequence data. In this paper, we present a…

Existing Vision-Language-Action (VLA) models typically take 2D images as visual input, which limits their spatial understanding in complex scenes. How can we incorporate 3D information to enhance VLA capabilities? We conduct a pilot study…

Existing point cloud based 3D detectors are designed for the particular scene, either indoor or outdoor ones. Because of the substantial differences in object distribution and point density within point clouds collected from various…

The majority of AI models in imaging and vision are customized to perform on specific high-precision task. However, this strategy is inefficient for applications with a series of modular tasks, since each requires a mapping into a disparate…

Unified multimodal models (UMMs) aim to jointly perform multimodal understanding and generation within a single framework. We present TUNA, a native UMM that builds a unified continuous visual representation by cascading a VAE encoder with…

We propose UniT, a Unified Transformer model to simultaneously learn the most prominent tasks across different domains, ranging from object detection to natural language understanding and multimodal reasoning. Based on the transformer…

Despite the impressive progress on understanding and generating images shown by the recent unified architectures, the integration of 3D tasks remains challenging and largely unexplored. In this paper, we introduce UniUGG, the first unified…

Unified segmentation of 3D point clouds is crucial for scene understanding, but is hindered by its sparse structure, limited annotations, and the challenge of distinguishing fine-grained object classes in complex environments. Existing…

Data-driven robotic learning faces an obvious dilemma: robust policies demand large-scale, high-quality demonstration data, yet collecting such data remains a major challenge owing to high operational costs, dependence on specialized…

We present UniModel, a unified generative model that jointly supports visual understanding and visual generation within a single pixel-to-pixel diffusion framework. Our goal is to achieve unification along three axes: the model, the tasks,…

Running AI models on smart edge devices can unlock versatile user experiences, but presents challenges due to limited compute and the need to handle multiple tasks simultaneously. This requires a vision encoder with small size but powerful…