arXiv AI
Urbex: Agentic Spatial Grounding for City-Scale 3D Scenes
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arXiv Computer Vision
Sep 7
Where to Look Matters: Learning Influential Views for VLM-based 3D Visual Grounding
IVSGround introduces a lightweight view selector that learns to choose the most informative camera views for vision‑language model (VLM) based 3D visual grounding, replacing heuristic view selection. The selector is trained via a two‑stage rejection sampling process that uses feedback from a reasoning VLM to generate supervision signals. Experiments on ScanRefer and NR3D demonstrate that IVSGround consistently improves grounding accuracy over existing zero‑shot pipelines, underscoring the importance of selecting where to look for effective 3D visual grounding.
arXiv Computer Vision
Sep 17
Finder: Agentic Closed-Loop Object Finding for Embodied Grounding
arXiv:2609.18058v1 Announce Type: new Abstract: Finding the object referred to by language in a partially observed 3D scene is a core capability for embodied agents. Existing approaches either couple...
arXiv Computer Vision
4d ago
P$^3$-VLM: A Point-based Alternative for Grounded 3D Vision-Language Models
arXiv:2610.28018v1 Announce Type: new Abstract: Examining existing benchmarks for grounding in 3D VLMs reveals a pervasive "semantic leakage" in the evaluation and prompting protocols: a heavy relian...
arXiv Computer Vision
Aug 28
UrbanGround: From Local Perception to Spatial Agency in a Real-Scale City
UrbanGround is a sandbox that tests how well multimodal large language model agents can translate local street‑view perception into reliable action within a physically realistic replica of Hong Kong. The platform offers closed‑loop first‑person interaction and an interactive map, allowing agents to navigate the 3D city and answer spatial questions. The study evaluates agents across three research questions—scene grounding, navigation over increasing distances, and robustness to route changes—revealing that while agents excel at visual recognition and short‑range reasoning, they struggle with sustained goal‑directed behavior and pedestrian‑aware movement.
arXiv AI
Jul 8
OpenGround: Planning-based Online Perception for Open-World 3D Visual Grounding
arXiv:2512. 23020v3 Announce Type: replace-cross Abstract: 3D visual grounding aims to locate objects based on natural language descriptions in 3D scenes.
arXiv Computer Vision
Oct 8
Agentic Scene Policies
arXiv:2509.19571v2 Announce Type: replace-cross Abstract: Designing or learning robot policies that generalize zero-shot across a range of language instructions and objects is a core problem in robot...