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cs.CV2025
Lemon: A Unified and Scalable 3D Multimodal Model for Universal Spatial Understanding
Yongyuan Liang, Xiyao Wang, Yuanchen Ju +2
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…
cs.CV2025
MomaGraph: State-Aware Unified Scene Graphs with Vision-Language Model for Embodied Task Planning
Yuanchen Ju, Yongyuan Liang, Yen-Jen Wang +7
Mobile manipulators in households must both navigate and manipulate. This requires a compact, semantically rich scene representation that captures where objects are, how they funct…