5 citations · 16 across the 21 of their papers we have counts for
8 papers · 1 filter
VLM-Grounder: A VLM Agent for Zero-Shot 3D Visual Grounding
Runsen Xu, Zhiwei Huang, Tai Wang +3
3D visual grounding is crucial for robots, requiring integration of natural language and 3D scene understanding. Traditional methods depending on supervised learning with 3D point…
Omni6D: Large-Vocabulary 3D Object Dataset for Category-Level 6D Object Pose Estimation
Mengchen Zhang, Tong Wu, Tai Wang +3
6D object pose estimation aims at determining an object's translation, rotation, and scale, typically from a single RGBD image. Recent advancements have expanded this estimation fr…
GRUtopia: Dream General Robots in a City at Scale
Hanqing Wang, Jiahe Chen, Wensi Huang +19
Recent works have been exploring the scaling laws in the field of Embodied AI. Given the prohibitive costs of collecting real-world data, we believe the Simulation-to-Real (Sim2Rea…
Open-Vocabulary Object-Goal Navigation by Generalizing Semantic Mapping with Dense CLIP
Meng Wei, Chenyang Wan, Tai Wang +6
Object-oriented embodied navigation tasks require agents to locate specific objects, either defined by category or images, in unseen environments. While recent methods have made pr…
CooHOI: Learning Cooperative Human-Object Interaction with Manipulated Object Dynamics
Jiawei Gao, Ziqin Wang, Zeqi Xiao +7
Enabling humanoid robots to clean rooms has long been a pursued dream within humanoid research communities. However, many tasks require multi-humanoid collaboration, such as carryi…
MMScan: A Multi-Modal 3D Scene Dataset with Hierarchical Grounded Language Annotations
Ruiyuan Lyu, Jingli Lin, Tai Wang +8
With the emergence of LLMs and their integration with other data modalities, multi-modal 3D perception attracts more attention due to its connectivity to the physical world and mak…
Grounded 3D-LLM with Referent Tokens
Yilun Chen, Shuai Yang, Haifeng Huang +5
Prior studies on 3D scene understanding have primarily developed specialized models for specific tasks or required task-specific fine-tuning. In this study, we propose Grounded 3D-…
GenNBV: Generalizable Next-Best-View Policy for Active 3D Reconstruction
Xiao Chen, Quanyi Li, Tai Wang +2
While recent advances in neural radiance field enable realistic digitization for large-scale scenes, the image-capturing process is still time-consuming and labor-intensive. Previo…