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Grounding natural language in 3D environments is a critical step toward achieving robust 3D vision-language alignment.
Scannet: Richly-annotated 3d reconstructions of indoor scenes
Angela Dai, Angel X Chang, Manolis Savva, Maciej Halber, Thomas Funkhouser, and Matthias Nießner · 2017
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Pointnet++: Deep hierarchical feature learning on point sets in a metric space
Charles Ruizhongtai Qi, Li Yi, Hao Su, and Leonidas J Guibas · 2017
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Vision-and-language navigation: Interpreting visually-grounded navigation instructions in real environments
Peter Anderson, Qi Wu, Damien Teney, Jake Bruce, Mark Johnson, Niko Sünderhauf, Ian Reid, Stephen Gould, and Anton Van Den Hengel · 2018
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3d scene graph: A structure for unified semantics, 3d space, and camera
Iro Armeni, Zhi-Yang He, JunYoung Gwak, Amir R Zamir, Martin Fischer, Jitendra Malik, and Silvio Savarese · 2019
Earlier work this paper cites.
Habitat: A platform for embodied ai research
Manolis Savva, Abhishek Kadian, Oleksandr Maksymets, Yili Zhao, Erik Wijmans, Bhavana Jain, Julian Straub, Jia Liu, Vladlen Koltun, Jitendra Malik, et al · 2019
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Rio: 3d object instance re-localization in changing indoor environments
Johanna Wald, Armen Avetisyan, Nassir Navab, Federico Tombari, and Matthias Nießner · 2019
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Referit3d: Neural listeners for fine-grained 3d object identification in real-world scenes
Panos Achlioptas, Ahmed Abdelreheem, Fei Xia, Mohamed Elhoseiny, and Leonidas Guibas · 2020
Earlier work this paper cites.
Objectnav revisited: On evaluation of embodied agents navigating to objects
Dhruv Batra, Aaron Gokaslan, Aniruddha Kembhavi, Oleksandr Maksymets, Roozbeh Mottaghi, Manolis Savva, Alexander Toshev, and Erik Wijmans · 2020
Earlier work this paper cites.
Scanrefer: 3d object localization in rgb-d scans using natural language
Dave Zhenyu Chen, Angel X Chang, and Matthias Nießner · 2020
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Learning 3d semantic scene graphs from 3d indoor reconstructions
Johanna Wald, Helisa Dhamo, Nassir Navab, and Federico Tombari · 2020
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Multion: Benchmarking semantic map memory using multi-object navigation
Saim Wani, Shivansh Patel, Unnat Jain, Angel Chang, and Manolis Savva · 2020
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Dd-ppo: Learning near-perfect pointgoal navigators from 2.5 billion frames
Erik Wijmans, Abhishek Kadian, Ari Morcos, Stefan Lee, Irfan Essa, Devi Parikh, Manolis Savva, and Dhruv Batra · 2020
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ARKitscenes: A diverse real-world dataset for 3d indoor scene understanding using mobile RGB-d data
Gilad Baruch, Zhuoyuan Chen, Afshin Dehghan, Yuri Feigin, Peter Fu, Thomas Gebauer, Daniel Kurz, Tal Dimry, Brandon Joffe, Arik Schwartz, and Elad Shulman · 2021
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Scan2cap: Context-aware dense captioning in rgb-d scans
Zhenyu Chen, Ali Gholami, Matthias Nießner, and Angel X Chang · 2021
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Learning transferable visual models from natural language supervision
Alec Radford, Jong Wook Kim, Chris Hallacy, Aditya Ramesh, Gabriel Goh, Sandhini Agarwal, Girish Sastry, Amanda Askell, Pamela Mishkin, Jack Clark, et al · 2021
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Habitat-matterport 3d dataset (hm3d): 1000 large-scale 3d environments for embodied ai
Santhosh Kumar Ramakrishnan, Aaron Gokaslan, Erik Wijmans, Oleksandr Maksymets, Alexander Clegg, John M Turner, Eric Undersander, Wojciech Galuba, Andrew Westbury, Angel X Chang, et al · 2021
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3dvg-transformer: Relation modeling for visual grounding on point clouds
Lichen Zhao, Daigang Cai, Lu Sheng, and Dong Xu · 2021
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Do as i can, not as i say: Grounding language in robotic affordances
Michael Ahn, Anthony Brohan, Noah Brown, Yevgen Chebotar, Omar Cortes, Byron David, Chelsea Finn, Chuyuan Fu, Keerthana Gopalakrishnan, Karol Hausman, et al · 2022
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Scanqa: 3d question answering for spatial scene understanding
Daichi Azuma, Taiki Miyanishi, Shuhei Kurita, and Motoaki Kawanabe · 2022
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Retrospectives on the embodied ai workshop
Matt Deitke, Dhruv Batra, Yonatan Bisk, Tommaso Campari, Angel X Chang, Devendra Singh Chaplot, Changan Chen, Claudia Pérez D’Arpino, Kiana Ehsani, Ali Farhadi, et al · 2022
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A survey of embodied ai: From simulators to research tasks
Jiafei Duan, Samson Yu, Hui Li Tan, Hongyuan Zhu, and Cheston Tan · 2022
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LoRA: Low-rank adaptation of large language models
Edward J Hu, yelong shen, Phillip Wallis, Zeyuan Allen-Zhu, Yuanzhi Li, Shean Wang, Lu Wang, and Weizhu Chen · 2022
Earlier work this paper cites.
Bottom up top down detection transformers for language grounding in images and point clouds
Ayush Jain, Nikolaos Gkanatsios, Ishita Mediratta, and Katerina Fragkiadaki · 2022
Cited alongside, same era.
Instance-specific image goal navigation: Training embodied agents to find object instances
Jacob Krantz, Stefan Lee, Jitendra Malik, Dhruv Batra, and Devendra Singh Chaplot · 2022
Cited alongside, same era.
3d-sps: Single-stage 3d visual grounding via referred point progressive selection
Junyu Luo, Jiahui Fu, Xianghao Kong, Chen Gao, Haibing Ren, Hao Shen, Huaxia Xia, and Si Liu · 2022
Cited alongside, same era.
Multiscan: Scalable rgbd scanning for 3d environments with articulated objects
Yongsen Mao, Yiming Zhang, Hanxiao Jiang, Angel Chang, and Manolis Savva · 2022
Cited alongside, same era.
Language-grounded indoor 3d semantic segmentation in the wild
David Rozenberszki, Or Litany, and Angela Dai · 2022
Cited alongside, same era.
3d-vista: Pre-trained transformer for 3d vision and text alignment
Ziyu Zhu, Xiaojian Ma, Yixin Chen, Zhidong Deng, Siyuan Huang, and Qing Li · 2023
Later among the works it cites.
Scanents3d: Exploiting phrase-to-3d-object correspondences for improved visio-linguistic models in 3d scenes
Ahmed Abdelreheem, Kyle Olszewski, Hsin-Ying Lee, Peter Wonka, and Panos Achlioptas · 2024
Closest in time.
Mikasa: Multi-key-anchor & scene-aware transformer for 3d visual grounding
Chun-Peng Chang, Shaoxiang Wang, Alain Pagani, and Didier Stricker · 2024
Closest in time.
Ll3da: Visual interactive instruction tuning for omni-3d understanding reasoning and planning
Sijin Chen, Xin Chen, Chi Zhang, Mingsheng Li, Gang Yu, Hao Fei, Hongyuan Zhu, Jiayuan Fan, and Tao Chen · 2024
Closest in time.
Abhimanyu Dubey, Abhinav Jauhri, Abhinav Pandey, Abhishek Kadian, Ahmad Al-Dahle, Aiesha Letman, Akhil Mathur, Alan Schelten, Amy Yang, Angela Fan, et al · 2024
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Towards explainable 3d grounded visual question answering: A new benchmark and strong baseline
Lichen Zhao, Daigang Cai, Jing Zhang, Lu Sheng, Dong Xu, Rui Zheng, Yinjie Zhao, Lipeng Wang, and Xibo Fan · 2022
Cited alongside, same era.
Josh Achiam, Steven Adler, Sandhini Agarwal, Lama Ahmad, Ilge Akkaya, Florencia Leoni Aleman, Diogo Almeida, Janko Altenschmidt, Sam Altman, Shyamal Anadkat, et al · 2023
Cited alongside, same era.
Goat: Go to any thing, 2023
Matthew Chang, Theophile Gervet, Mukul Khanna, Sriram Yenamandra, Dhruv Shah, So Yeon Min, Kavit Shah, Chris Paxton, Saurabh Gupta, Dhruv Batra, Roozbeh Mottaghi, Jitendra Malik, and Devendra Singh Chaplot · 2023
Cited alongside, same era.
Unit3d: A unified transformer for 3d dense captioning and visual grounding
Zhenyu Chen, Ronghang Hu, Xinlei Chen, Matthias Nießner, and Angel X Chang · 2023
Cited alongside, same era.
Vicuna: An open-source chatbot impressing gpt-4 with 90%* chatgpt quality
Wei-Lin Chiang, Zhuohan Li, Zi Lin, Ying Sheng, Zhanghao Wu, Hao Zhang, Lianmin Zheng, Siyuan Zhuang, Yonghao Zhuang, Joseph E Gonzalez, et al · 2023
Cited alongside, same era.
Sequence-agnostic multi-object navigation
Nandiraju Gireesh, Ayush Agrawal, Ahana Datta, Snehasis Banerjee, Mohan Sridharan, Brojeshwar Bhowmick, and Madhava Krishna · 2023
Cited alongside, same era.
Viewrefer: Grasp the multi-view knowledge for 3d visual grounding
Zoey Guo, Yiwen Tang, Ray Zhang, Dong Wang, Zhigang Wang, Bin Zhao, and Xuelong Li · 2023
Cited alongside, same era.
Closest in time.
Yue Fan, Xiaojian Ma, Rongpeng Su, Jun Guo, Rujie Wu, Xi Chen, and Qing Li · 2024
Closest in time.
Scene-llm: Extending language model for 3d visual understanding and reasoning
Rao Fu, Jingyu Liu, Xilun Chen, Yixin Nie, and Wenhan Xiong · 2024
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Multiply: A multisensory object-centric embodied large language model in 3d world
Yining Hong, Zishuo Zheng, Peihao Chen, Yian Wang, Junyan Li, and Chuang Gan · 2024
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Sceneverse: Scaling 3d vision-language learning for grounded scene understanding
Baoxiong Jia, Yixin Chen, Huangyue Yu, Yan Wang, Xuesong Niu, Tengyu Liu, Qing Li, and Siyuan Huang · 2024
Closest in time.
Goat-bench: A benchmark for multi-modal lifelong navigation
Mukul Khanna, Ram Ramrakhya, Gunjan Chhablani, Sriram Yenamandra, Theophile Gervet, Matthew Chang, Zsolt Kira, Devendra Singh Chaplot, Dhruv Batra, and Roozbeh Mottaghi · 2024
Closest in time.
3dmit: 3d multi-modal instruction tuning for scene understanding
Zeju Li, Chao Zhang, Xiaoyan Wang, Ruilong Ren, Yifan Xu, Ruifei Ma, Xiangde Liu, and Rong Wei · 2024
Closest in time.
Moka: Open-vocabulary robotic manipulation through mark-based visual prompting
Fangchen Liu, Kuan Fang, Pieter Abbeel, and Sergey Levine · 2024
Closest in time.
Scaneru: Interactive 3d visual grounding based on embodied reference understanding
Ziyang Lu, Yunqiang Pei, Guoqing Wang, Peiwei Li, Yang Yang, Yinjie Lei, and Heng Tao Shen · 2024
Closest in time.
Xianzheng Ma, Yash Bhalgat, Brandon Smart, Shuai Chen, Xinghui Li, Jian Ding, Jindong Gu, Dave Zhenyu Chen, Songyou Peng, Jia-Wang Bian, et al · 2024
Closest in time.
Openeqa: Embodied question answering in the era of foundation models
Arjun Majumdar, Anurag Ajay, Xiaohan Zhang, Pranav Putta, Sriram Yenamandra, Mikael Henaff, Sneha Silwal, Paul Mcvay, Oleksandr Maksymets, Sergio Arnaud, et al · 2024
Closest in time.
Viewpoint-aware visual grounding in 3d scenes
Xiangxi Shi, Zhonghua Wu, and Stefan Lee · 2024
Closest in time.
Embodiedscan: A holistic multi-modal 3d perception suite towards embodied ai
Tai Wang, Xiaohan Mao, Chenming Zhu, Runsen Xu, Ruiyuan Lyu, Peisen Li, Xiao Chen, Wenwei Zhang, Kai Chen, Tianfan Xue, et al · 2024
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Visual programming for zero-shot open-vocabulary 3d visual grounding
Zhihao Yuan, Jinke Ren, Chun-Mei Feng, Hengshuang Zhao, Shuguang Cui, and Zhen Li · 2024
Closest in time.
3d-vla: A 3d vision-language-action generative world model
Haoyu Zhen, Xiaowen Qiu, Peihao Chen, Jincheng Yang, Xin Yan, Yilun Du, Yining Hong, and Chuang Gan · 2024
Closest in time.
Deepseek-r1: Incentivizing reasoning capability in llms via reinforcement learning, 2025
DeepSeek-AI, Daya Guo, Dejian Yang, Haowei Zhang, Junxiao Song, Ruoyu Zhang, Runxin Xu, Qihao Zhu, Shirong Ma, Peiyi Wang, et al · 2025
Closest in time.
Gpt4scene: Understand 3d scenes from videos with vision-language models
Zhangyang Qi, Zhixiong Zhang, Ye Fang, Jiaqi Wang, and Hengshuang Zhao · 2025
Closest in time.