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Vision-Language Foundation model should go to 3D for robotics!🤖 CoRL23 Oral: GNFactor learns Generalizable Neural Feature Fields for language conditioned manipulation on diverse scenes. It unifies 3D➕Stable Diffusion features using generalizable NeRFs.

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Xiaolong Wang

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56,268 görüntüleme • 2 yıl önce •via X (Twitter)

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Instead of optimizing a single NeRF per scene, GNFactor trains an encoder-based generalizable NeRF that allows generalization across different kitchens and different object arrangements. The NeRF feature can be extracted in real-time, allowing close loop control. 2/n

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We train the generalizable NeRF on diverse kitchen scenes, and at the same time distill the pre-trained Stable Diffusion features into NeRF. This leverages semantics from 2D foundation models and puts them in 3D structure via NeRF. Below is view synthesis for features. 3/n

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Another key insight: Instead of estimating the object location or states, we directly learn a policy on this 3D + Semantic feature. This avoids errors occuring in state estimation, but at the same time provides richer priors/representations compared to end-to-end approaches. 4/n

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Related work: Our ICCV23 paper: FeatureNeRF: Learning Generalizable NeRFs by Distilling Foundation Models by @jianglong_ye We hope to continue pushing the direction of representation learning with NeRF in both vision and robotics. 5/n

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Work done with @ZeYanjie, Ge Yan, @yh_kris, @anna_macalus, @tttoaster_, @jianglong_ye, @ncklashansen, @erranlli Paper:

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We have seen a lot of legged robots doing navigation in the wild. But how about mobile manipulation in the wild? I have been pushing the direction of learning a unified, efficient, and dynamic 3D representation of scenes (for navigation) and objects (for manipulation) for the past two years. And now we have GeFF --- our large-scale, generalizable feature field, that combines the speed of a feed-forward neural network with the rich semantics from Foundation Models, to handle dynamically changing scenes, and enable open-ended, language-grounded scene and object understanding.

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Humans learn and improve from failures. Similarly, foundation models adapt based on human feedback. Can we leverage this failure understanding to enhance robotics systems that use foundation models? Introducing AHA—a vision-language model for detecting and reasoning over failures in robotic manipulation. Project page: 🧵Thread👇 Aha!
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Humans learn and improve from failures. Similarly, foundation models adapt based on human feedback. Can we leverage this failure understanding to enhance robotics systems that use foundation models? Introducing AHA—a vision-language model for detecting and reasoning over failures in robotic manipulation. Project page: 🧵Thread👇 Aha!

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3D-LLM: Injecting the 3D World into Large Language Models paper page: Large language models (LLMs) and Vision-Language Models (VLMs) have been proven to excel at multiple tasks, such as commonsense reasoning. Powerful as these models can be, they are not grounded in the 3D physical world, which involves richer concepts such as spatial relationships, affordances, physics, layout, and so on. In this work, we propose to inject the 3D world into large language models and introduce a whole new family of 3D-LLMs. Specifically, 3D-LLMs can take 3D point clouds and their features as input and perform a diverse set of 3D-related tasks, including captioning, dense captioning, 3D question answering, task decomposition, 3D grounding, 3D-assisted dialog, navigation, and so on. Using three types of prompting mechanisms that we design, we are able to collect over 300k 3D-language data covering these tasks. To efficiently train 3D-LLMs, we first utilize a 3D feature extractor that obtains 3D features from rendered multi- view images. Then, we use 2D VLMs as our backbones to train our 3D-LLMs. By introducing a 3D localization mechanism, 3D-LLMs can better capture 3D spatial information. Experiments on ScanQA show that our model outperforms state-of-the-art baselines by a large margin (e.g., the BLEU-1 score surpasses state-of-the-art score by 9%). Furthermore, experiments on our held-in datasets for 3D captioning, task composition, and 3D-assisted dialogue show that our model outperforms 2D VLMs. Qualitative examples also show that our model could perform more tasks beyond the scope of existing LLMs and VLMs.

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🚀🚀🚀 Ever wondered what it takes for robots to handle real-world household tasks? long-horizon execution, deformable object dexterity, and unseen object generalization — meet GR-3, ByteDance Seed’s new Vision-Language-Action (VLA) model! GR-3 is a generalizable Vision-Language-Action (VLA) model with strong capabilities in complex long-horizon tasks. It understands unseen abstract concepts, manipulates deformable objects robustly, and adapts to novel settings with minimal human data. ✨ Generalization: Generalizes well to unseen objects, environments, and even instructions with abstract concepts. ✨ Long-Horizon Manipulation: Completes long-horizon tasks with strong instruction-following capabilities. ✨ Deformable Object Manipulation: Manipulate deformable objects robustly. Project Page: Arxiv: #ByteDance #ByteDanceSeed #GR3 #VLA #Robotics #FoundationModels
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🚀🚀🚀 Ever wondered what it takes for robots to handle real-world household tasks? long-horizon execution, deformable object dexterity, and unseen object generalization — meet GR-3, ByteDance Seed’s new Vision-Language-Action (VLA) model! GR-3 is a generalizable Vision-Language-Action (VLA) model with strong capabilities in complex long-horizon tasks. It understands unseen abstract concepts, manipulates deformable objects robustly, and adapts to novel settings with minimal human data. ✨ Generalization: Generalizes well to unseen objects, environments, and even instructions with abstract concepts. ✨ Long-Horizon Manipulation: Completes long-horizon tasks with strong instruction-following capabilities. ✨ Deformable Object Manipulation: Manipulate deformable objects robustly. Project Page: Arxiv: #ByteDance #ByteDanceSeed #GR3 #VLA #Robotics #FoundationModels

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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:
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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:

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Real-world robot data is expensive and slow to collect, creating a major challenge for humanoid development. 🤖 The NVIDIA GR00T N1.6 open vision language action model is pre-trained on a diverse mix of data, including thousands of hours of Stanford Vision and Learning Lab’s BEHAVIOR simulation data, which covers long-horizon everyday manipulation tasks. This diverse training is the key to robust cross-embodiment performance and real-world adaptability. 🌍 Read the blog 🔗
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Real-world robot data is expensive and slow to collect, creating a major challenge for humanoid development. 🤖 The NVIDIA GR00T N1.6 open vision language action model is pre-trained on a diverse mix of data, including thousands of hours of Stanford Vision and Learning Lab’s BEHAVIOR simulation data, which covers long-horizon everyday manipulation tasks. This diverse training is the key to robust cross-embodiment performance and real-world adaptability. 🌍 Read the blog 🔗

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DL3DV-10K: A Large-Scale Scene Dataset for Deep Learning-based 3D Vision paper page: We have witnessed significant progress in deep learning-based 3D vision, ranging from neural radiance field (NeRF) based 3D representation learning to applications in novel view synthesis (NVS). However, existing scene-level datasets for deep learning-based 3D vision, limited to either synthetic environments or a narrow selection of real-world scenes, are quite insufficient. This insufficiency not only hinders a comprehensive benchmark of existing methods but also caps what could be explored in deep learning-based 3D analysis. To address this critical gap, we present DL3DV-10K, a large-scale scene dataset, featuring 51.2 million frames from 10,510 videos captured from 65 types of point-of-interest (POI) locations, covering both bounded and unbounded scenes, with different levels of reflection, transparency, and lighting. We conducted a comprehensive benchmark of recent NVS methods on DL3DV-10K, which revealed valuable insights for future research in NVS. In addition, we have obtained encouraging results in a pilot study to learn generalizable NeRF from DL3DV-10K, which manifests the necessity of a large-scale scene-level dataset to forge a path toward a foundation model for learning 3D representation.

AK

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🚀 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.➡️

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Excited to announce GR00T N1, the world’s first open foundation model for humanoid robots! We are on a mission to democratize Physical AI. The power of general robot brain, in the palm of your hand - with only 2B parameters, N1 learns from the most diverse physical action dataset ever compiled and punches above its weight: - Real humanoid teleoperation data. - Large-scale simulation data: we are open-sourcing 300K+ trajectories! - Neural trajectories: we apply SOTA video generation models to “hallucinate” new synthetic data that features accurate physics in pixels. Using Jensen’s words, “systematically infinite data”! - Latent actions: we develop novel algorithms to extract action tokens from in-the-wild human videos and neural generated videos. GR00T N1 is a single end-to-end neural net, from photons to actions: - Vision-Language Model (System 2) that interprets the physical world through vision and language instructions, enabling robots to reason about their environment and instructions, and plan the right actions. - Diffusion Transformer (System 1) that “renders” smooth and precise motor actions at 120 Hz, executing the latent plan made by System 2. We deploy N1 on GR1 robot, 1X Neo robot, and a large collection of simulation benchmarks. N1 achieves up to +30% boost in diverse manipulation tasks for household and industrial settings. While humanoid robots are the main focus of N1, our model also supports cross-embodiment. We finetune it to work on the $110 HuggingFace LeRobot SO100 robot arm! Open robot brain runs on open hardware. Sounds just right. Let’s solve robotics, together, one token at a time. Links to our Whitepaper, Github repo, HuggingFace model, and open dataset page in the thread: 🧵

Jim Fan

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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.
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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.

MrNeRF

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🤖What if a robot could perform a new task just from a natural language command, with zero demonstrations? Our new work, NovaFlow, makes it possible! We use pre-trained video generative model to create a video of the task, then translate it into a plan for real-world robot execution. 1/6 #Robotics #AI #ZeroShot #Manipulation
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🤖What if a robot could perform a new task just from a natural language command, with zero demonstrations? Our new work, NovaFlow, makes it possible! We use pre-trained video generative model to create a video of the task, then translate it into a plan for real-world robot execution. 1/6 #Robotics #AI #ZeroShot #Manipulation

Hongyu Li

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SceneScript treats 3D reconstruction as a language problem rather than a geometry one. The model watches a video of a room and just learns to write a script for it. It autoregressively spits out text commands like make_wall(...) or make_bbox(...) that define the scene. Stanford's new "Scene Language" paper goes a step further adding CLIP embeddings to capture visual appearance too. The fact that language models already understand spatial relationships well enough to write out scene graphs is pretty wild.
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SceneScript treats 3D reconstruction as a language problem rather than a geometry one. The model watches a video of a room and just learns to write a script for it. It autoregressively spits out text commands like make_wall(...) or make_bbox(...) that define the scene. Stanford's new "Scene Language" paper goes a step further adding CLIP embeddings to capture visual appearance too. The fact that language models already understand spatial relationships well enough to write out scene graphs is pretty wild.

Bilawal Sidhu

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Agility Robotics has developed a whole-body control foundation model for their humanoid robot, Digit, acting like a "motor cortex" to ensure safe, stable performance in diverse tasks. This small neural network (<1M parameters) is trained in NVIDIA's Isaac Sim for simulated decades over 3-4 days, transferring zero-shot to the real world. It handles balance, smooth motion, and precision manipulation while preventing falls. Prompted with free-space positions/orientations for arms and torso, it enables walking, picking/placing heavy objects, and robustness to disturbances. Downstream, it supports dexterous skills and LLM-coordinated behaviors.
2:25

Agility Robotics has developed a whole-body control foundation model for their humanoid robot, Digit, acting like a "motor cortex" to ensure safe, stable performance in diverse tasks. This small neural network (<1M parameters) is trained in NVIDIA's Isaac Sim for simulated decades over 3-4 days, transferring zero-shot to the real world. It handles balance, smooth motion, and precision manipulation while preventing falls. Prompted with free-space positions/orientations for arms and torso, it enables walking, picking/placing heavy objects, and robustness to disturbances. Downstream, it supports dexterous skills and LLM-coordinated behaviors.

The Humanoid Hub

17,537 görüntüleme • 10 ay önce

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.
1:13

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

14,261 görüntüleme • 1 yıl önce

Here's a look behind the scenes of how I used a 3d model, generated from an image, as a "driver" for ai animation. In the near future we'll see more 3d tools that support these types of workflows, with much more emphasis on enhancing user input instead of just letting the ai do everything. I used the 3d model to generate keyframes that I then animated in Luma Dream. By using a 3d model with a diffusion "layer" done with Krea, I got quite high quality frames with a relatively high consistency as well since the AI didn't have to "hallucinate" that much. I upscaled and detailed the frames using Magnific. Using semi-detailed 3d models as drivers for gen ai is very powerful, and it allows us to use models that are sculpted in a more free-flowing type of workflow that doesn't rely so much on high surface detailing or very time-consuming finish, but instead relies more on gestural 3d sculpting. #art #ai
0:24

Here's a look behind the scenes of how I used a 3d model, generated from an image, as a "driver" for ai animation. In the near future we'll see more 3d tools that support these types of workflows, with much more emphasis on enhancing user input instead of just letting the ai do everything. I used the 3d model to generate keyframes that I then animated in Luma Dream. By using a 3d model with a diffusion "layer" done with Krea, I got quite high quality frames with a relatively high consistency as well since the AI didn't have to "hallucinate" that much. I upscaled and detailed the frames using Magnific. Using semi-detailed 3d models as drivers for gen ai is very powerful, and it allows us to use models that are sculpted in a more free-flowing type of workflow that doesn't rely so much on high surface detailing or very time-consuming finish, but instead relies more on gestural 3d sculpting. #art #ai

Martin Nebelong

48,200 görüntüleme • 2 yıl önce