{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/cross-modal-and-uncertainty-aware","title":"Cross-Modal and Uncertainty-Aware Agglomeration for Open-Vocabulary 3D Scene Understanding","arxiv_id":"2503.16707","date":"2025-03-20","proceeding":"CVPR 2025 1","authors":["Jinlong Li","Cristiano Saltori","Fabio Poiesi","Nicu Sebe"],"abstract":"The lack of a large-scale 3D-text corpus has led recent works to distill open-vocabulary knowledge from vision-language models (VLMs). However, these methods typically rely on a single VLM to align the feature spaces of 3D models within a common language space, which limits the potential of 3D models to leverage the diverse spatial and semantic capabilities encapsulated in various foundation models. In this paper, we propose Cross-modal and Uncertainty-aware Agglomeration for Open-vocabulary 3D Scene Understanding dubbed CUA-O3D, the first model to integrate multiple foundation models-such as CLIP, DINOv2, and Stable Diffusion-into 3D scene understanding. We further introduce a deterministic uncertainty estimation to adaptively distill and harmonize the heterogeneous 2D feature embeddings from these models. Our method addresses two key challenges: (1) incorporating semantic priors from VLMs alongside the geometric knowledge of spatially-aware vision foundation models, and (2) using a novel deterministic uncertainty estimation to capture model-specific uncertainties across diverse semantic and geometric sensitivities, helping to reconcile heterogeneous representations during training. Extensive experiments on ScanNetV2 and Matterport3D demonstrate that our method not only advances open-vocabulary segmentation but also achieves robust cross-domain alignment and competitive spatial perception capabilities. The code will be available at: https://github.com/TyroneLi/CUA_O3D.","url_abs":"https://arxiv.org/abs/2503.16707v2","url_pdf":"https://arxiv.org/pdf/2503.16707v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"cross-modal-and-uncertainty-aware","repo_url":"https://github.com/tyroneli/cua_o3d","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"Apache-2.0"}}],"tasks":[{"task_slug":"scene-understanding","task_name":"Scene Understanding"}],"methods":[{"method_slug":"align","method_name":"ALIGN"},{"method_slug":"clip","method_name":"CLIP"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2503.16707","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2503.16707"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/tyroneli/cua_o3d","reach":{"status":"ok","spdx":"Apache-2.0"}}],"summary":{"ran":1},"by_repo_kind":{"official":{"samples":1,"ran":1,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"c4b88bc6388a332e","entry":"state_dict_remove_moudle","repo":"tyroneli/cua_o3d","repo_kind":"official","path":"models/disnet.py","file_url":"https://github.com/tyroneli/cua_o3d/blob/HEAD/models/disnet.py","link_basis":"harvester_set","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"c4b88bc6388a332e"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}