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LEGO-SLAM: Language-Embedded Gaussian Optimization SLAM LEGO-SLAM running at 15 FPS on a ScanNet scene with language-based loop closing for drift correction. LEGO-SLAM is a 3DGS-based SLAM framework that supports open-vocabulary semantic querying and rendering. It tracks via G-ICP and efficiently builds a map by embedding Gaussians with scene-adaptive 16D... show more

Ryohei Sasaki@engineer

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15,060 次观看 • 4 个月前 •via X (Twitter)

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SuperGSeg: Open-Vocabulary 3D Segmentation with Structured Super-Gaussians Contributions: • We propose SuperGSeg: a 3D segmentation method with neural Gaussians, designed to learn hierarchical instance segmentation features from 2D foundation models. • We introduce the concept of Super-Gaussian, a novel representation that integrates hierarchical instance segmentation features, enabling the embedding of high-dimensional language features. This approach addresses previously unfeasible challenges in representing complex scenes with rich semantic details. • Extensive experiments on the LERF-OVS and ScanNet datasets demonstrate the effectiveness of the proposed method, achieving significant improvements in open-vocabulary 3D object-level and scene-level semantic segmentation. It shows particular strength in capturing fine-grained scene details and dense pixel semantic segmentation tasks for the first time.

SuperGSeg: Open-Vocabulary 3D Segmentation with Structured Super-Gaussians Contributions: • We propose SuperGSeg: a 3D segmentation method with neural Gaussians, designed to learn hierarchical instance segmentation features from 2D foundation models. • We introduce the concept of Super-Gaussian, a novel representation that integrates hierarchical instance segmentation features, enabling the embedding of high-dimensional language features. This approach addresses previously unfeasible challenges in representing complex scenes with rich semantic details. • Extensive experiments on the LERF-OVS and ScanNet datasets demonstrate the effectiveness of the proposed method, achieving significant improvements in open-vocabulary 3D object-level and scene-level semantic segmentation. It shows particular strength in capturing fine-grained scene details and dense pixel semantic segmentation tasks for the first time.

MrNeRF

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Check out the Neural Graph Mapping for Dense SLAM with Efficient Loop Closure paper by Leonard Bruns, Jun Zhang, and Patric Jensfelt, visualized with Rerun. “Existing neural field-based SLAM methods typically employ a single monolithic field as their scene representation. This prevents efficient incorporation of loop closure constraints and limits scalability. To address these shortcomings, we propose a neural mapping framework which anchors lightweight neural fields to the pose graph of a sparse visual SLAM system.”

Check out the Neural Graph Mapping for Dense SLAM with Efficient Loop Closure paper by Leonard Bruns, Jun Zhang, and Patric Jensfelt, visualized with Rerun. “Existing neural field-based SLAM methods typically employ a single monolithic field as their scene representation. This prevents efficient incorporation of loop closure constraints and limits scalability. To address these shortcomings, we propose a neural mapping framework which anchors lightweight neural fields to the pose graph of a sparse visual SLAM system.”

Rerun

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LangSplatV2: High-dimensional 3D Language Gaussian Splatting with 450+ FPS Contributions: • LangSplatV2 achieves real-time performance with 476.2 FPS for high-dimensional feature splatting and 384.6 FPS for 3D open-vocabulary text querying. • Delivers a 42× speedup and 47× boost in performance compared to LangSplat. • Improves query accuracy while drastically reducing inference time. • Replaces the heavyweight decoder in LangSplat with a sparse coefficient field, removing the main performance bottleneck. • Introduces a CUDA-optimized sparse coefficient splatting method, enabling fast and high-quality rendering of high-dimensional features. • Enables scalable 3D language interaction in complex scenes, opening up real-time applications previously not possible with LangSplat.

LangSplatV2: High-dimensional 3D Language Gaussian Splatting with 450+ FPS Contributions: • LangSplatV2 achieves real-time performance with 476.2 FPS for high-dimensional feature splatting and 384.6 FPS for 3D open-vocabulary text querying. • Delivers a 42× speedup and 47× boost in performance compared to LangSplat. • Improves query accuracy while drastically reducing inference time. • Replaces the heavyweight decoder in LangSplat with a sparse coefficient field, removing the main performance bottleneck. • Introduces a CUDA-optimized sparse coefficient splatting method, enabling fast and high-quality rendering of high-dimensional features. • Enables scalable 3D language interaction in complex scenes, opening up real-time applications previously not possible with LangSplat.

MrNeRF

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🎤🎤 Excited to introduce COME-robot🤖🤖, Closed-Loop Open-Vocabulary Mobile Manipulation with GPT-4V. It is the first closed-loop framework utilizing the vision-language foundation model for open-ended reasoning and adaptive planning in real-world scenarios. COME-robot demonstrates a significant improvement in task success rate (~25%) compared to SOTA methods. Project: Arxiv:

🎤🎤 Excited to introduce COME-robot🤖🤖, Closed-Loop Open-Vocabulary Mobile Manipulation with GPT-4V. It is the first closed-loop framework utilizing the vision-language foundation model for open-ended reasoning and adaptive planning in real-world scenarios. COME-robot demonstrates a significant improvement in task success rate (~25%) compared to SOTA methods. Project: Arxiv:

Siyuan Huang

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4D LangSplat: 4D Language Gaussian Splatting via Multimodal Large Language Models Contributions: • We introduce 4D LangSplat for open-vocabulary 4D spatial-temporal queries. To the best of our knowledge, we are the first to construct 4D language fields with object textual captions generated by MLLMs. • To model smooth transitions across states for objects in 4D scenes, we propose a status deformable network to capture continuous temporal changes. • Experiential results show that our method attains state-of-the-art performance for both time-agnostic and time-sensitive open-vocabulary queries.

4D LangSplat: 4D Language Gaussian Splatting via Multimodal Large Language Models Contributions: • We introduce 4D LangSplat for open-vocabulary 4D spatial-temporal queries. To the best of our knowledge, we are the first to construct 4D language fields with object textual captions generated by MLLMs. • To model smooth transitions across states for objects in 4D scenes, we propose a status deformable network to capture continuous temporal changes. • Experiential results show that our method attains state-of-the-art performance for both time-agnostic and time-sensitive open-vocabulary queries.

MrNeRF

10,953 次观看 • 1 年前

MAGS-SLAM: Monocular Multi-Agent Gaussian Splatting SLAM for Geometrically and Photometrically Consistent Reconstruction TL;DR: The first RGB-only multi-agent 3D Gaussian Splatting SLAM for collaborative photorealistic scene reconstruction. Contributions: (1) We propose the first monocular RGB-only multi-agent 3D Gaussian Splatting SLAM system. It integrates Gaussian front-ends, compact submap summaries, inter-agent verification, Sim(3) submap pose graph, and occupancy-aware fusion into a unified framework, achieving accurate tracking and photorealistic reconstruction without depth sensors. (2) We propose a Pose-Graph Bundle Adjustment (PGBA)-consistent Sim(3) loop closure mechanism for multi-agent systems, which jointly resolves intra- and inter-agent scale drift through a submap-level Sim(3) pose graph coupling geometric and photometric residuals. Robustness is ensured by a spatial-extent gate that rejects degenerate loops and an adaptive edge invalidation scheme consistent with evolving PGBA corrections. (3) We propose an occupancy-aware fusion framework for coherent multi-agent Gaussian maps. It combines occupancy-grid deduplication, decoupled coordinator, and joint pose-Gaussian photometric refinement to eliminate duplicated Gaussians, residual misalignment, and photometric seams across agents. (4) We introduce ReplicaMultiagent Plus dataset. While existing multi-agent datasets are typically limited to 2-3 agents with short trajectories, our dataset scales to 4 agents with long-horizon trajectories. In addition, we provide ground-truth geometry and semantic annotations, supporting the evaluation of monocular, RGB-D, and semantic multi-agent SLAM for collaborative dense reconstruction.

MAGS-SLAM: Monocular Multi-Agent Gaussian Splatting SLAM for Geometrically and Photometrically Consistent Reconstruction TL;DR: The first RGB-only multi-agent 3D Gaussian Splatting SLAM for collaborative photorealistic scene reconstruction. Contributions: (1) We propose the first monocular RGB-only multi-agent 3D Gaussian Splatting SLAM system. It integrates Gaussian front-ends, compact submap summaries, inter-agent verification, Sim(3) submap pose graph, and occupancy-aware fusion into a unified framework, achieving accurate tracking and photorealistic reconstruction without depth sensors. (2) We propose a Pose-Graph Bundle Adjustment (PGBA)-consistent Sim(3) loop closure mechanism for multi-agent systems, which jointly resolves intra- and inter-agent scale drift through a submap-level Sim(3) pose graph coupling geometric and photometric residuals. Robustness is ensured by a spatial-extent gate that rejects degenerate loops and an adaptive edge invalidation scheme consistent with evolving PGBA corrections. (3) We propose an occupancy-aware fusion framework for coherent multi-agent Gaussian maps. It combines occupancy-grid deduplication, decoupled coordinator, and joint pose-Gaussian photometric refinement to eliminate duplicated Gaussians, residual misalignment, and photometric seams across agents. (4) We introduce ReplicaMultiagent Plus dataset. While existing multi-agent datasets are typically limited to 2-3 agents with short trajectories, our dataset scales to 4 agents with long-horizon trajectories. In addition, we provide ground-truth geometry and semantic annotations, supporting the evaluation of monocular, RGB-D, and semantic multi-agent SLAM for collaborative dense reconstruction.

MrNeRF

19,357 次观看 • 2 个月前

MotionGPT: Human Motion as a Foreign Language paper page: Though the advancement of pre-trained large language models unfolds, the exploration of building a unified model for language and other multi-modal data, such as motion, remains challenging and untouched so far. Fortunately, human motion displays a semantic coupling akin to human language, often perceived as a form of body language. By fusing language data with large-scale motion models, motion-language pre-training that can enhance the performance of motion-related tasks becomes feasible. Driven by this insight, we propose MotionGPT, a unified, versatile, and user-friendly motion-language model to handle multiple motion-relevant tasks. Specifically, we employ the discrete vector quantization for human motion and transfer 3D motion into motion tokens, similar to the generation process of word tokens. Building upon this "motion vocabulary", we perform language modeling on both motion and text in a unified manner, treating human motion as a specific language. Moreover, inspired by prompt learning, we pre-train MotionGPT with a mixture of motion-language data and fine-tune it on prompt-based question-and-answer tasks. Extensive experiments demonstrate that MotionGPT achieves state-of-the-art performances on multiple motion tasks including text-driven motion generation, motion captioning, motion prediction, and motion in-between.

MotionGPT: Human Motion as a Foreign Language paper page: Though the advancement of pre-trained large language models unfolds, the exploration of building a unified model for language and other multi-modal data, such as motion, remains challenging and untouched so far. Fortunately, human motion displays a semantic coupling akin to human language, often perceived as a form of body language. By fusing language data with large-scale motion models, motion-language pre-training that can enhance the performance of motion-related tasks becomes feasible. Driven by this insight, we propose MotionGPT, a unified, versatile, and user-friendly motion-language model to handle multiple motion-relevant tasks. Specifically, we employ the discrete vector quantization for human motion and transfer 3D motion into motion tokens, similar to the generation process of word tokens. Building upon this "motion vocabulary", we perform language modeling on both motion and text in a unified manner, treating human motion as a specific language. Moreover, inspired by prompt learning, we pre-train MotionGPT with a mixture of motion-language data and fine-tune it on prompt-based question-and-answer tasks. Extensive experiments demonstrate that MotionGPT achieves state-of-the-art performances on multiple motion tasks including text-driven motion generation, motion captioning, motion prediction, and motion in-between.

AK

125,319 次观看 • 3 年前

This seemingly obvious prediction didn't take long to become reality. MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priors Contributions: • The first real-time SLAM system using the two-view 3D reconstruction prior MASt3R [20] as a foundation. • Efficient techniques for pointmap matching, tracking and local fusion, graph construction and loop closure, and second-order global optimization. • A state-of-the-art dense SLAM system capable of handling generic, time-varying camera models. Abstract: We present a real-time monocular dense SLAM system, designed from the ground up using MASt3R, a two-view 3D reconstruction and matching prior. Equipped with this strong prior, our system remains robust on in-the-wild video sequences, making no assumptions on a fixed or parametric camera model beyond a unique camera center. Key features include: - Efficient methods for pointmap matching, camera tracking, and local fusion - Graph construction and loop closure - Second-order global optimization With known calibration, a simple modification achieves state-of-the-art performance across various benchmarks. Altogether, we propose a plug-and-play monocular SLAM system capable of producing globally-consistent poses and dense geometry while operating at 15 FPS.

This seemingly obvious prediction didn't take long to become reality. MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priors Contributions: • The first real-time SLAM system using the two-view 3D reconstruction prior MASt3R [20] as a foundation. • Efficient techniques for pointmap matching, tracking and local fusion, graph construction and loop closure, and second-order global optimization. • A state-of-the-art dense SLAM system capable of handling generic, time-varying camera models. Abstract: We present a real-time monocular dense SLAM system, designed from the ground up using MASt3R, a two-view 3D reconstruction and matching prior. Equipped with this strong prior, our system remains robust on in-the-wild video sequences, making no assumptions on a fixed or parametric camera model beyond a unique camera center. Key features include: - Efficient methods for pointmap matching, camera tracking, and local fusion - Graph construction and loop closure - Second-order global optimization With known calibration, a simple modification achieves state-of-the-art performance across various benchmarks. Altogether, we propose a plug-and-play monocular SLAM system capable of producing globally-consistent poses and dense geometry while operating at 15 FPS.

MrNeRF

29,961 次观看 • 1 年前

AI + robotics research is starting to pick up steam. We can now instruct Spot using natural language using Language-guided Skill Coordination (LSC). A user provides a natural language instruction: "Bring me the chocolates box, cereal box, and pill bottle, and put them on the bedroom table" and the robot navigates to the location of the target objects and places them on the room table. Current versions of Spot rely on a fixed-set vocabulary that cannot generalize to diverse instructions. In this demo, the researchers presented a method that uses large language models to receive a free-form natural language instruction for object rearrangement, which it then executes. It combines: -A voice-to-text model that processes the instructions into text -An LLM that converts natural language instruction to call a library of skills -A perception module that provides ground truth locations and visual object detection And what your left with is a glimpse into what our future will hold: robots executing tasks from human voice prompts.

AI + robotics research is starting to pick up steam. We can now instruct Spot using natural language using Language-guided Skill Coordination (LSC). A user provides a natural language instruction: "Bring me the chocolates box, cereal box, and pill bottle, and put them on the bedroom table" and the robot navigates to the location of the target objects and places them on the room table. Current versions of Spot rely on a fixed-set vocabulary that cannot generalize to diverse instructions. In this demo, the researchers presented a method that uses large language models to receive a free-form natural language instruction for object rearrangement, which it then executes. It combines: -A voice-to-text model that processes the instructions into text -An LLM that converts natural language instruction to call a library of skills -A perception module that provides ground truth locations and visual object detection And what your left with is a glimpse into what our future will hold: robots executing tasks from human voice prompts.

AI Breakfast

33,725 次观看 • 3 年前

Wow. Recreating the Shawshank Redemption prison in 3D from a single video, in real time (!) Just read the MASt3R-SLAM paper and it's pretty neat. These folks basically built a real-time dense SLAM system on top of MASt3R, which is a transformer-based neural network that can do 3d reconstruction and localization from uncalibrated image pairs. The cool part is they don't need a fixed camera model -- it just works with arbitrary cameras -- think different focal lengths, sensor sizes, even handling zooming in video (FMV drone video anyone?!). If you've done photogrammetry or played with NeRFs you know that is a HUGE deal. They've solved some tricky problems like efficient point matching and tracking, plus they've figured out how to fuse point clouds and handle loop closures in real-time. Their system runs at about 15 FPS on a 4090 and produces both camera poses and dense geometry. When they know the camera calibration, they get SOTA results across several benchmarks, but even without calibration, they still perform well. What's interesting is the approach -- most recent SLAM work has built on DROID-SLAM's architecture, but these folks went a different direction by leveraging a strong 3D reconstruction prior. Seems to give them more coherent geometry, which makes sense since that's what MASt3R was designed for. For anyone who cares about monocular SLAM and 3D reconstruction, this feels like a significant step toward plug-and-play dense SLAM without calibration headaches -- perfect for drones, robots, AR/VR -- the works!

Wow. Recreating the Shawshank Redemption prison in 3D from a single video, in real time (!) Just read the MASt3R-SLAM paper and it's pretty neat. These folks basically built a real-time dense SLAM system on top of MASt3R, which is a transformer-based neural network that can do 3d reconstruction and localization from uncalibrated image pairs. The cool part is they don't need a fixed camera model -- it just works with arbitrary cameras -- think different focal lengths, sensor sizes, even handling zooming in video (FMV drone video anyone?!). If you've done photogrammetry or played with NeRFs you know that is a HUGE deal. They've solved some tricky problems like efficient point matching and tracking, plus they've figured out how to fuse point clouds and handle loop closures in real-time. Their system runs at about 15 FPS on a 4090 and produces both camera poses and dense geometry. When they know the camera calibration, they get SOTA results across several benchmarks, but even without calibration, they still perform well. What's interesting is the approach -- most recent SLAM work has built on DROID-SLAM's architecture, but these folks went a different direction by leveraging a strong 3D reconstruction prior. Seems to give them more coherent geometry, which makes sense since that's what MASt3R was designed for. For anyone who cares about monocular SLAM and 3D reconstruction, this feels like a significant step toward plug-and-play dense SLAM without calibration headaches -- perfect for drones, robots, AR/VR -- the works!

Bilawal Sidhu

703,928 次观看 • 1 年前

LLaVA-3D A Simple yet Effective Pathway to Empowering LMMs with 3D-awareness Recent advancements in Large Multimodal Models (LMMs) have greatly enhanced their proficiency in 2D visual understanding tasks, enabling them to effectively process and understand images and videos. However, the development of LMMs with 3D-awareness for 3D scene understanding has been hindered by the lack of large-scale 3D vision-language datasets and powerful 3D encoders. In this paper, we introduce a simple yet effective framework called LLaVA-3D. Leveraging the strong 2D understanding priors from LLaVA, our LLaVA-3D efficiently adapts LLaVA for 3D scene understanding without compromising 2D understanding capabilities. To achieve this, we employ a simple yet effective representation, 3D Patch, which connects 2D CLIP patch features with their corresponding positions in 3D space. By integrating the 3D Patches into 2D LMMs and employing joint 2D and 3D vision-language instruction tuning, we establish a unified architecture for both 2D image understanding and 3D scene understanding. Experimental results show that LLaVA-3D converges 3.5x faster than existing 3D LMMs when trained on 3D vision-language datasets. Moreover, LLaVA-3D not only achieves state-of-the-art performance across various 3D tasks but also maintains comparable 2D image understanding and vision-language conversation capabilities with LLaVA.

LLaVA-3D A Simple yet Effective Pathway to Empowering LMMs with 3D-awareness Recent advancements in Large Multimodal Models (LMMs) have greatly enhanced their proficiency in 2D visual understanding tasks, enabling them to effectively process and understand images and videos. However, the development of LMMs with 3D-awareness for 3D scene understanding has been hindered by the lack of large-scale 3D vision-language datasets and powerful 3D encoders. In this paper, we introduce a simple yet effective framework called LLaVA-3D. Leveraging the strong 2D understanding priors from LLaVA, our LLaVA-3D efficiently adapts LLaVA for 3D scene understanding without compromising 2D understanding capabilities. To achieve this, we employ a simple yet effective representation, 3D Patch, which connects 2D CLIP patch features with their corresponding positions in 3D space. By integrating the 3D Patches into 2D LMMs and employing joint 2D and 3D vision-language instruction tuning, we establish a unified architecture for both 2D image understanding and 3D scene understanding. Experimental results show that LLaVA-3D converges 3.5x faster than existing 3D LMMs when trained on 3D vision-language datasets. Moreover, LLaVA-3D not only achieves state-of-the-art performance across various 3D tasks but also maintains comparable 2D image understanding and vision-language conversation capabilities with LLaVA.

AK

41,736 次观看 • 1 年前

LegoGPT, an LLM-based system that generates physically stable LEGO structures from text prompts, backed by a new 47,000+ sample dataset and physics-aware filtering during inference. → LegoGPT is trained on a custom dataset, StableText2Lego, which includes 47,000+ 3D LEGO models mapped to text, spanning 28,000+ unique objects. → The model predicts LEGO bricks sequentially like tokens, using next-token prediction in a transformer setup. → To ensure physical stability, LegoGPT integrates physics-aware rollback and validity filtering, pruning out structurally invalid brick placements. → The generated designs are aesthetically aligned with prompts, physically buildable, and tested both with human manual assembly and robotic arms. → The team also introduced a text-driven LEGO coloring/texturing pipeline, enabling more expressive and customized outputs. → The dataset, code, and models are all publicly released under an open-access license.

LegoGPT, an LLM-based system that generates physically stable LEGO structures from text prompts, backed by a new 47,000+ sample dataset and physics-aware filtering during inference. → LegoGPT is trained on a custom dataset, StableText2Lego, which includes 47,000+ 3D LEGO models mapped to text, spanning 28,000+ unique objects. → The model predicts LEGO bricks sequentially like tokens, using next-token prediction in a transformer setup. → To ensure physical stability, LegoGPT integrates physics-aware rollback and validity filtering, pruning out structurally invalid brick placements. → The generated designs are aesthetically aligned with prompts, physically buildable, and tested both with human manual assembly and robotic arms. → The team also introduced a text-driven LEGO coloring/texturing pipeline, enabling more expressive and customized outputs. → The dataset, code, and models are all publicly released under an open-access license.

Rohan Paul

75,281 次观看 • 1 年前

🚀 Meta FAIR is releasing several new research artifacts on our road to advanced machine intelligence (AMI). These latest advancements are transforming our understanding of perception. 1️⃣ Meta Perception Encoder: A large-scale vision encoder that excels across several image & video tasks. 2️⃣ Meta Perception Language Model: A fully open & reproducible vision-language model designed to tackle visual recognition tasks. 3️⃣ Meta Locate 3D: An end-to-end model for accurate object localization in 3D environments. 4️⃣ Releasing model weights for our 8B-parameter Dynamic Byte Latent Transformer, an alternative to traditional tokenization methods with the potential to redefine the standards for language model efficiency and reliability. 5️⃣Collaborative Reasoner: A framework for evaluating & improving collaborative reasoning skills in language models. Download the code, datasets, and research papers and learn more about how these artifacts are paving the way for more efficient and accurate AI systems.➡️

🚀 Meta FAIR is releasing several new research artifacts on our road to advanced machine intelligence (AMI). These latest advancements are transforming our understanding of perception. 1️⃣ Meta Perception Encoder: A large-scale vision encoder that excels across several image & video tasks. 2️⃣ Meta Perception Language Model: A fully open & reproducible vision-language model designed to tackle visual recognition tasks. 3️⃣ Meta Locate 3D: An end-to-end model for accurate object localization in 3D environments. 4️⃣ Releasing model weights for our 8B-parameter Dynamic Byte Latent Transformer, an alternative to traditional tokenization methods with the potential to redefine the standards for language model efficiency and reliability. 5️⃣Collaborative Reasoner: A framework for evaluating & improving collaborative reasoning skills in language models. Download the code, datasets, and research papers and learn more about how these artifacts are paving the way for more efficient and accurate AI systems.➡️

AI at Meta

163,313 次观看 • 1 年前

Blended-NeRF: Zero-Shot Object Generation and Blending in Existing Neural Radiance Fields paper page: Editing a local region or a specific object in a 3D scene represented by a NeRF is challenging, mainly due to the implicit nature of the scene representation. Consistently blending a new realistic object into the scene adds an additional level of difficulty. We present Blended-NeRF, a robust and flexible framework for editing a specific region of interest in an existing NeRF scene, based on text prompts or image patches, along with a 3D ROI box. Our method leverages a pretrained language-image model to steer the synthesis towards a user-provided text prompt or image patch, along with a 3D MLP model initialized on an existing NeRF scene to generate the object and blend it into a specified region in the original scene. We allow local editing by localizing a 3D ROI box in the input scene, and seamlessly blend the content synthesized inside the ROI with the existing scene using a novel volumetric blending technique. To obtain natural looking and view-consistent results, we leverage existing and new geometric priors and 3D augmentations for improving the visual fidelity of the final result. We test our framework both qualitatively and quantitatively on a variety of real 3D scenes and text prompts, demonstrating realistic multi-view consistent results with much flexibility and diversity compared to the baselines. Finally, we show the applicability of our framework for several 3D editing applications, including adding new objects to a scene, removing/replacing/altering existing objects, and texture conversion.

Blended-NeRF: Zero-Shot Object Generation and Blending in Existing Neural Radiance Fields paper page: Editing a local region or a specific object in a 3D scene represented by a NeRF is challenging, mainly due to the implicit nature of the scene representation. Consistently blending a new realistic object into the scene adds an additional level of difficulty. We present Blended-NeRF, a robust and flexible framework for editing a specific region of interest in an existing NeRF scene, based on text prompts or image patches, along with a 3D ROI box. Our method leverages a pretrained language-image model to steer the synthesis towards a user-provided text prompt or image patch, along with a 3D MLP model initialized on an existing NeRF scene to generate the object and blend it into a specified region in the original scene. We allow local editing by localizing a 3D ROI box in the input scene, and seamlessly blend the content synthesized inside the ROI with the existing scene using a novel volumetric blending technique. To obtain natural looking and view-consistent results, we leverage existing and new geometric priors and 3D augmentations for improving the visual fidelity of the final result. We test our framework both qualitatively and quantitatively on a variety of real 3D scenes and text prompts, demonstrating realistic multi-view consistent results with much flexibility and diversity compared to the baselines. Finally, we show the applicability of our framework for several 3D editing applications, including adding new objects to a scene, removing/replacing/altering existing objects, and texture conversion.

AK

62,768 次观看 • 3 年前

LLM-grounded Diffusion: Enhancing Prompt Understanding of Text-to-Image Diffusion Models with Large Language Models paper page: github: Recent advancements in text-to-image generation with diffusion models have yielded remarkable results synthesizing highly realistic and diverse images. However, these models still encounter difficulties when generating images from prompts that demand spatial or common sense reasoning. We propose to equip diffusion models with enhanced reasoning capabilities by using off-the-shelf pretrained large language models (LLMs) in a novel two-stage generation process. First, we adapt an LLM to be a text-guided layout generator through in-context learning. When provided with an image prompt, an LLM outputs a scene layout in the form of bounding boxes along with corresponding individual descriptions. Second, we steer a diffusion model with a novel controller to generate images conditioned on the layout. Both stages utilize frozen pretrained models without any LLM or diffusion model parameter optimization. We validate the superiority of our design by demonstrating its ability to outperform the base diffusion model in accurately generating images according to prompts that necessitate both language and spatial reasoning. Additionally, our method naturally allows dialog-based scene specification and is able to handle prompts in a language that is not well-supported by the underlying diffusion model.

LLM-grounded Diffusion: Enhancing Prompt Understanding of Text-to-Image Diffusion Models with Large Language Models paper page: github: Recent advancements in text-to-image generation with diffusion models have yielded remarkable results synthesizing highly realistic and diverse images. However, these models still encounter difficulties when generating images from prompts that demand spatial or common sense reasoning. We propose to equip diffusion models with enhanced reasoning capabilities by using off-the-shelf pretrained large language models (LLMs) in a novel two-stage generation process. First, we adapt an LLM to be a text-guided layout generator through in-context learning. When provided with an image prompt, an LLM outputs a scene layout in the form of bounding boxes along with corresponding individual descriptions. Second, we steer a diffusion model with a novel controller to generate images conditioned on the layout. Both stages utilize frozen pretrained models without any LLM or diffusion model parameter optimization. We validate the superiority of our design by demonstrating its ability to outperform the base diffusion model in accurately generating images according to prompts that necessitate both language and spatial reasoning. Additionally, our method naturally allows dialog-based scene specification and is able to handle prompts in a language that is not well-supported by the underlying diffusion model.

AK

83,657 次观看 • 3 年前

The references like Pandu, G%#*^, Chammu, etc., are languages of internet trolls. The language employed by CM Mohan Majhi appears unrefined and coarse, which is a trait often observed when a leader is selected based on specific background rather than merit and caliber, resulting in a lack of effective leadership qualities. It is clear that the BJP Odisha is in panic mode at Nuapada going into a 48-hour "silence period" that begins today at 4 PM. Nuapada will defeat classless BJP and vote for Raju Dholakia brand of politics synonymous with BJD. #NuapadaBypoll

dD@$h

35,086 次观看 • 8 个月前

Exploration is key for robots to generalize, especially in open-ended environments with vague goals and sparse rewards. BUT, how do we go beyond random poking? Wouldn't it be great to have a robot that explores an environment just like a kid? Introducing Imagine, Verify, Execute (IVE)! IVE leverages Vision-Language models to • extract semantic scene graphs, • imagine novel scenes, • predict their physical plausibility, and • generate executable sequences. IVE is a memory-guided agentic exploration framework that operates fully automatically, enabling more diverse and meaningful exploration.

Exploration is key for robots to generalize, especially in open-ended environments with vague goals and sparse rewards. BUT, how do we go beyond random poking? Wouldn't it be great to have a robot that explores an environment just like a kid? Introducing Imagine, Verify, Execute (IVE)! IVE leverages Vision-Language models to • extract semantic scene graphs, • imagine novel scenes, • predict their physical plausibility, and • generate executable sequences. IVE is a memory-guided agentic exploration framework that operates fully automatically, enabling more diverse and meaningful exploration.

Jia-Bin Huang

45,352 次观看 • 1 年前

At Avalon we are building "Real-time creating" - the ability to generate gameplay ready persistent worlds prompted from text. While others are building real-time video world models, Avalon is building real-time world generation inside a fully playable, persistent multiplayer engine. Internally running at 3840×2180 at 60 FPS. Built on Unreal Engine. Multiplayer by default. Persistent by default. Gameplay-ready by default. This is not a video latent replay. Not a simulation of interaction. It is a real 3D world with physics, logic, and authoritative multiplayer state. Avalon is trained on proprietary Avalon interaction data and powered by a hybrid system that combines language understanding, 3D model generation, procedural systems, and structured gameplay logic synthesis. Players can walk through a live world and generate environments, assets, mechanics, and entirely new gameplay modes using natural language. We accomplish this through a combination of 3D model generation, game logic generation based on our proprietary systems, and AI driven world creation. While other players are inside it. Changes persist instantly. State is synchronized in real time. Creation happens inside the world, not outside of it. Describe a biome. Spawn a civilization. Create a survival mode. Build a dungeon crawler. Launch a new game inside the world. Avalon interprets intent and integrates it directly into the live multiplayer environment. This is not a world model predicting video. This is a gameplay engine that understands language. If you can describe it, you can build it. And others can walk into it instantly.

At Avalon we are building "Real-time creating" - the ability to generate gameplay ready persistent worlds prompted from text. While others are building real-time video world models, Avalon is building real-time world generation inside a fully playable, persistent multiplayer engine. Internally running at 3840×2180 at 60 FPS. Built on Unreal Engine. Multiplayer by default. Persistent by default. Gameplay-ready by default. This is not a video latent replay. Not a simulation of interaction. It is a real 3D world with physics, logic, and authoritative multiplayer state. Avalon is trained on proprietary Avalon interaction data and powered by a hybrid system that combines language understanding, 3D model generation, procedural systems, and structured gameplay logic synthesis. Players can walk through a live world and generate environments, assets, mechanics, and entirely new gameplay modes using natural language. We accomplish this through a combination of 3D model generation, game logic generation based on our proprietary systems, and AI driven world creation. While other players are inside it. Changes persist instantly. State is synchronized in real time. Creation happens inside the world, not outside of it. Describe a biome. Spawn a civilization. Create a survival mode. Build a dungeon crawler. Launch a new game inside the world. Avalon interprets intent and integrates it directly into the live multiplayer environment. This is not a world model predicting video. This is a gameplay engine that understands language. If you can describe it, you can build it. And others can walk into it instantly.

AVALON

62,596 次观看 • 5 个月前

Everyone is focused on tracking the ways LLMs are getting better. And they are. But we know there are still things that LLMs can’t do well—the tasks where you can feel the architecture fighting the problem. So I was excited to chat with Eve Bodnia (@eve_bodnia), who is developing an alternative AI model to LLMs, on Every 📧's AI & I. Eve's argument: energy-based models (EBMs), which map possible outcomes onto a mathematical landscape, will lead to the next AI phase shift. We get into: - How energy-based models work. Likely outcomes sit in valleys, and unlikely ones sit on peaks. Whereas LLMs process one token at a time, an EBM scans the full terrain to find the lowest point, or the most probable answer. - Language-based versus data-native models. LLMs are language-dependent even when the problem has nothing to do with language. "If your data is numbers, relationships, and functions, and you try to map those rules into words and then search for the next word, you're losing a lot of information," Bodnia says. EBMs work directly with the underlying data structure, including numbers and spatial coordinates. - Sequential versus panoramic reasoning. An LLM is like driving through San Francisco without a map. Each turn constrains the next, and if you go down the wrong street, you can't reverse course. An EBM has the bird's-eye view—it can evaluate multiple routes at once and course-correct before hitting a dead end. - The LLM plateau no one wants to talk about. LLMs are getting incrementally better, step-change improvements aren’t coming, Eve argues. To achieve that, we need new solutions that compensate for what LLMs are inherently bad at, like non-language reasoning, verification, and real-time data analysis. This is a must-watch for anyone who's curious what might come after the LLM. Watch below! Timestamps: Introduction: 00:00:51 Why correctness and verifiability matter in AI: 00:02:09 What an energy-based model is: 00:09:33 How EBMs construct energy landscapes to understand data: 00:14:21 Why modeling intelligence through language alone is a flawed approach: 00:19:00 What it means for a model to "understand" data: 00:26:54 How EBMs solve the vibe coding problem and enable formally verified code: 00:37:21 Why LLM progress is plateauing: 00:43:21 Mission-critical industries haven't adopted LLMs, and why EBMs can fill that gap: 00:49:54

Everyone is focused on tracking the ways LLMs are getting better. And they are. But we know there are still things that LLMs can’t do well—the tasks where you can feel the architecture fighting the problem. So I was excited to chat with Eve Bodnia (@eve_bodnia), who is developing an alternative AI model to LLMs, on Every 📧's AI & I. Eve's argument: energy-based models (EBMs), which map possible outcomes onto a mathematical landscape, will lead to the next AI phase shift. We get into: - How energy-based models work. Likely outcomes sit in valleys, and unlikely ones sit on peaks. Whereas LLMs process one token at a time, an EBM scans the full terrain to find the lowest point, or the most probable answer. - Language-based versus data-native models. LLMs are language-dependent even when the problem has nothing to do with language. "If your data is numbers, relationships, and functions, and you try to map those rules into words and then search for the next word, you're losing a lot of information," Bodnia says. EBMs work directly with the underlying data structure, including numbers and spatial coordinates. - Sequential versus panoramic reasoning. An LLM is like driving through San Francisco without a map. Each turn constrains the next, and if you go down the wrong street, you can't reverse course. An EBM has the bird's-eye view—it can evaluate multiple routes at once and course-correct before hitting a dead end. - The LLM plateau no one wants to talk about. LLMs are getting incrementally better, step-change improvements aren’t coming, Eve argues. To achieve that, we need new solutions that compensate for what LLMs are inherently bad at, like non-language reasoning, verification, and real-time data analysis. This is a must-watch for anyone who's curious what might come after the LLM. Watch below! Timestamps: Introduction: 00:00:51 Why correctness and verifiability matter in AI: 00:02:09 What an energy-based model is: 00:09:33 How EBMs construct energy landscapes to understand data: 00:14:21 Why modeling intelligence through language alone is a flawed approach: 00:19:00 What it means for a model to "understand" data: 00:26:54 How EBMs solve the vibe coding problem and enable formally verified code: 00:37:21 Why LLM progress is plateauing: 00:43:21 Mission-critical industries haven't adopted LLMs, and why EBMs can fill that gap: 00:49:54

Dan Shipper 📧

26,900 次观看 • 3 个月前

GeoLibre v1.10.0 is here! GeoLibre is a free and open-source, lightweight, cloud-native GIS platform for visualizing, exploring, and analyzing geospatial data. It runs everywhere you do, in the web browser, on the desktop, on mobile, and inside Jupyter notebooks, all while keeping your data local and private. This release brings photorealistic city-scale 3D to the map, adds OGC API vector tiles, and makes vector tiles and live editing easier to work with. What's new in v1.10.0 - Google Photorealistic 3D Tiles: drape entire cities in photorealistic 3D right in the map, streamed and rendered through - ArcGIS I3S scene layers: stream Integrated Mesh and 3D Object scene layers and render them in 3D on the shared instance. - OGC API vector tiles: add standards-based OGC API - Tiles vector tile services as a remote source, right alongside XYZ and ArcGIS vector tiles. - Local HDF5 and NetCDF-4 loading: open scientific HDF5 and NetCDF-4 files straight from disk, no cloud references required. - GeoEditor from the current view: pull the vector features currently visible in the map into the GeoEditor and start editing what you are looking at, without re-importing the source data. Try it out - Launch GeoLibre Web: - GitHub: - Documentation: - Release notes: #GIS #Geospatial #OpenSource #RemoteSensing #DataVisualization #MapLibre

GeoLibre v1.10.0 is here! GeoLibre is a free and open-source, lightweight, cloud-native GIS platform for visualizing, exploring, and analyzing geospatial data. It runs everywhere you do, in the web browser, on the desktop, on mobile, and inside Jupyter notebooks, all while keeping your data local and private. This release brings photorealistic city-scale 3D to the map, adds OGC API vector tiles, and makes vector tiles and live editing easier to work with. What's new in v1.10.0 - Google Photorealistic 3D Tiles: drape entire cities in photorealistic 3D right in the map, streamed and rendered through - ArcGIS I3S scene layers: stream Integrated Mesh and 3D Object scene layers and render them in 3D on the shared instance. - OGC API vector tiles: add standards-based OGC API - Tiles vector tile services as a remote source, right alongside XYZ and ArcGIS vector tiles. - Local HDF5 and NetCDF-4 loading: open scientific HDF5 and NetCDF-4 files straight from disk, no cloud references required. - GeoEditor from the current view: pull the vector features currently visible in the map into the GeoEditor and start editing what you are looking at, without re-importing the source data. Try it out - Launch GeoLibre Web: - GitHub: - Documentation: - Release notes: #GIS #Geospatial #OpenSource #RemoteSensing #DataVisualization #MapLibre

Qiusheng Wu

24,292 次观看 • 24 天前