GaussianProperty: Integrating Physical Properties to 3D Gaussians with LMMs

Estimating physical properties for visual data is a crucial task in computer vision, graphics, and robotics, underpinning applications such as augmented reality, physical simulation, and robotic grasping. However, this area remains under-explored due to the inherent ambiguities in physical property estimation. To address these challenges, we introduce GaussianProperty, a training-free framework that assigns physical properties of materials to 3D Gaussians. Specifically, we integrate the segmentation capability of SAM with the recognition capability of GPT-4V(ision) to formulate a global-local physical property reasoning module for 2D images. Then we project the physical properties from multi-view 2D images to 3D Gaussians using a voting strategy. We demonstrate that 3D Gaussians with physical property annotations enable applications in physics-based dynamic simulation and robotic grasping. For physics-based dynamic simulation, we leverage the Material Point Method (MPM) for realistic dynamic simulation. For robot grasping, we develop a grasping force prediction strategy that estimates a safe force range required for object grasping based on the estimated physical properties. Extensive experiments on material segmentation, physics-based dynamic simulation, and robotic grasping validate the effectiveness of our proposed method, highlighting its crucial role in understanding physical properties from visual data. Online demo, code, more cases and annotated datasets are available on \href{https://Gaussian-Property.github.io}{this https URL}.

SeeGround: See and Ground for Zero-Shot Open-Vocabulary 3D Visual Grounding

3D Visual Grounding (3DVG) aims to locate objects in 3D scenes based on textual descriptions, which is essential for applications like augmented reality and robotics. Traditional 3DVG approaches rely on annotated 3D datasets and predefined object categories, limiting scalability and adaptability. To overcome these limitations, we introduce SeeGround, a zero-shot 3DVG framework leveraging 2D Vision-Language Models (VLMs) trained on large-scale 2D data. We propose to represent 3D scenes as a hybrid of query-aligned rendered images and spatially enriched text descriptions, bridging the gap between 3D data and 2D-VLMs input formats. We propose two modules: the Perspective Adaptation Module, which dynamically selects viewpoints for query-relevant image rendering, and the Fusion Alignment Module, which integrates 2D images with 3D spatial descriptions to enhance object localization. Extensive experiments on ScanRefer and Nr3D demonstrate that our approach outperforms existing zero-shot methods by large margins. Notably, we exceed weakly supervised methods and rival some fully supervised ones, outperforming previous SOTA by 7.7% on ScanRefer and 7.1% on Nr3D, showcasing its effectiveness.

LHPF: Look back the History and Plan for the Future in Autonomous Driving

Decision-making and planning in autonomous driving critically reflect the safety of the system, making effective planning imperative. Current imitation learning-based planning algorithms often merge historical trajectories with present observations to predict future candidate paths. However, these algorithms typically assess the current and historical plans independently, leading to discontinuities in driving intentions and an accumulation of errors with each step in a discontinuous plan. To tackle this challenge, this paper introduces LHPF, an imitation learning planner that integrates historical planning information. Our approach employs a historical intention aggregation module that pools historical planning intentions, which are then combined with a spatial query vector to decode the final planning trajectory. Furthermore, we incorporate a comfort auxiliary task to enhance the human-like quality of the driving behavior. Extensive experiments using both real-world and synthetic data demonstrate that LHPF not only surpasses existing advanced learning-based planners in planning performance but also marks the first instance of a purely learning-based planner outperforming the expert. Additionally, the application of the historical intention aggregation module across various backbones highlights the considerable potential of the proposed method. The code will be made publicly available.

GLOVER: Generalizable Open-Vocabulary Affordance Reasoning for Task-Oriented Grasping

Inferring affordable (i.e., graspable) parts of arbitrary objects based on human specifications is essential for robots advancing toward open-vocabulary manipulation. Current grasp planners, however, are hindered by limited vision-language comprehension and time-consuming 3D radiance modeling, restricting real-time, open-vocabulary interactions with objects. To address these limitations, we propose GLOVER, a unified Generalizable Open-Vocabulary Affordance Reasoning framework, which fine-tunes the Large Language Models (LLMs) to predict visual affordance of graspable object parts within RGB feature space. We compile a dataset of over 10,000 images from human-object interactions, annotated with unified visual and linguistic affordance labels, to enable multi-modal fine-tuning. GLOVER inherits world knowledge and common-sense reasoning from LLMs, facilitating more fine-grained object understanding and sophisticated tool-use reasoning. To enable effective real-world deployment, we present Affordance-Aware Grasping Estimation (AGE), a non-parametric grasp planner that aligns the gripper pose with a superquadric surface derived from affordance data. In evaluations across 30 real-world scenes, GLOVER achieves success rates of 86.0% in part identification and 76.3% in grasping, with speeds approximately 330 times faster in affordance reasoning and 40 times faster in grasping pose estimation than the previous state-of-the-art.

Open-Vocabulary 3D Semantic Segmentation with Text-to-Image Diffusion Models

In this paper, we investigate the use of diffusion models which are pre-trained on large-scale image-caption pairs for open-vocabulary 3D semantic understanding. We propose a novel method, namely Diff2Scene, which leverages frozen representations from text-image generative models, along with salient-aware and geometric-aware masks, for open-vocabulary 3D semantic segmentation and visual grounding tasks. Diff2Scene gets rid of any labeled 3D data and effectively identifies objects, appearances, materials, locations and their compositions in 3D scenes. We show that it outperforms competitive baselines and achieves significant improvements over state-of-the-art methods. In particular, Diff2Scene improves the state-of-the-art method on ScanNet200 by 12%.

Open-vocabulary Mobile Manipulation in Unseen Dynamic Environments with 3D Semantic Maps

Open-Vocabulary Mobile Manipulation (OVMM) is a crucial capability for autonomous robots, especially when faced with the challenges posed by unknown and dynamic environments. This task requires robots to explore and build a semantic understanding of their surroundings, generate feasible plans to achieve manipulation goals, adapt to environmental changes, and comprehend natural language instructions from humans. To address these challenges, we propose a novel framework that leverages the zero-shot detection and grounded recognition capabilities of pretraining visual-language models (VLMs) combined with dense 3D entity reconstruction to build 3D semantic maps. Additionally, we utilize large language models (LLMs) for spatial region abstraction and online planning, incorporating human instructions and spatial semantic context. We have built a 10-DoF mobile manipulation robotic platform JSR-1 and demonstrated in real-world robot experiments that our proposed framework can effectively capture spatial semantics and process natural language user instructions for zero-shot OVMM tasks under dynamic environment settings, with an overall navigation and task success rate of 80.95% and 73.33% over 105 episodes, and better SFT and SPL by 157.18% and 19.53% respectively compared to the baseline. Furthermore, the framework is capable of replanning towards the next most probable candidate location based on the spatial semantic context derived from the 3D semantic map when initial plans fail, keeping an average success rate of 76.67%.

Mitigating the Human-Robot Domain Discrepancy in Visual Pre-training for Robotic Manipulation

Learning generalizable visual dynamic representation across different embodied environments is crucial for real-world robotic manipulation. As the scale and diversity of robot demonstration data are limited, recent works have turned to large-scale pre-training using human data. However, the morphological differences between humans and robots introduce a significant human-robot domain discrepancy, challenging the generalization of these human-data pre-trained models to downstream manipulation tasks. To address this, we propose a novel adaptation paradigm that utilizes readily available paired human-robot video data to bridge the discrepancy. Following this paradigm, our method exploits a human-robot contrastive alignment loss to align the semantics of human and robot videos, adapting pre-trained models to the robotic domain in a parameter-efficient manner. The experiments demonstrate significant improvements on 25 tasks across three different benchmarks, where the single-task, language-conditioned multi-task settings are covered, and two different pre-trained models are evaluated. On the large RLBench benchmark, our adaptation method achieves an average improvement of $8.9\%$ in success rate over the pre-trained R3M model across multiple tasks. We will release the code and models upon acceptance.

Contrastive Imitation Learning for Language-guided Multi-Task Robotic Manipulation

Developing robots capable of executing various manipulation tasks, guided by natural language instructions and visual observations of intricate real-world environments, remains a significant challenge in robotics. Such robot agents need to understand linguistic commands and distinguish between the requirements of different tasks. In this work, we present Sigma-Agent, an end-to-end imitation learning agent for multi-task robotic manipulation. Sigma-Agent incorporates contrastive Imitation Learning (contrastive IL) modules to strengthen vision-language and current-future representations. An effective and efficient multi-view querying Transformer (MVQ-Former) for aggregating representative semantic information is introduced. Sigma-Agent shows substantial improvement over state-of-the-art methods under diverse settings in 18 RLBench tasks, surpassing RVT by an average of 5.2% and 5.9% in 10 and 100 demonstration training, respectively. Sigma-Agent also achieves 62% success rate with a single policy in 5 real-world manipulation tasks. The code will be released upon acceptance.

Vision-Language Models Meet Meteorology: Developing Models for Extreme Weather Events Detection with Heatmaps

Real-time detection and prediction of extreme weather protect human lives and infrastructure. Traditional methods rely on numerical threshold setting and manual interpretation of weather heatmaps with Geographic Information Systems (GIS), which can be slow and error-prone. Our research redefines Extreme Weather Events Detection (EWED) by framing it as a Visual Question Answering (VQA) problem, thereby introducing a more precise and automated solution. Leveraging Vision-Language Models (VLM) to simultaneously process visual and textual data, we offer an effective aid to enhance the analysis process of weather heatmaps. Our initial assessment of general-purpose VLMs (e.g., GPT-4-Vision) on EWED revealed poor performance, characterized by low accuracy and frequent hallucinations due to inadequate color differentiation and insufficient meteorological knowledge. To address these challenges, we introduce ClimateIQA, the first meteorological VQA dataset, which includes 8,760 wind gust heatmaps and 254,040 question-answer pairs covering four question types, both generated from the latest climate reanalysis data. We also propose Sparse Position and Outline Tracking (SPOT), an innovative technique that leverages OpenCV and K-Means clustering to capture and depict color contours in heatmaps, providing ClimateIQA with more accurate color spatial location information. Finally, we present Climate-Zoo, the first meteorological VLM collection, which adapts VLMs to meteorological applications using the ClimateIQA dataset. Experiment results demonstrate that models from Climate-Zoo substantially outperform state-of-the-art general VLMs, achieving an accuracy increase from 0% to over 90% in EWED verification. The datasets and models in this study are publicly available for future climate science research: https://github.com/AlexJJJChen/Climate-Zoo.

Improving Gloss-free Sign Language Translation by Reducing Representation Density

Gloss-free sign language translation (SLT) aims to develop well-performing SLT systems with no requirement for the costly gloss annotations, but currently still lags behind gloss-based approaches significantly. In this paper, we identify a representation density problem that could be a bottleneck in restricting the performance of gloss-free SLT. Specifically, the representation density problem describes that the visual representations of semantically distinct sign gestures tend to be closely packed together in feature space, which makes gloss-free methods struggle with distinguishing different sign gestures and suffer from a sharp performance drop. To address the representation density problem, we introduce a simple but effective contrastive learning strategy, namely SignCL, which encourages gloss-free models to learn more discriminative feature representation in a self-supervised manner. Our experiments demonstrate that the proposed SignCL can significantly reduce the representation density and improve performance across various translation frameworks. Specifically, SignCL achieves a significant improvement in BLEU score for the Sign Language Transformer and GFSLT-VLP on the CSL-Daily dataset by 39% and 46%, respectively, without any increase of model parameters. Compared to Sign2GPT, a state-of-the-art method based on large-scale pre-trained vision and language models, SignCL achieves better performance with only 35% of its parameters. Implementation and Checkpoints are available at https://github.com/JinhuiYE/SignCL.