Empowering 3D Visual Grounding with Reasoning Capabilities

ECCV 2024
Chenming Zhu  Tai Wang  Wenwei Zhang  Kai Chen  Xihui Liu* 
The University of Hong Kong Shanghai AI Laboratory

📦 Benchmark and Model

Benchmark Overview

ScanReason is the first comprehensive and hierarchical 3D reasoning grounding benchmark. We define 5 types of questions depending on which type of reasoning is required: Spatial reasoning and function reasoning require fundamental understanding of the 3D physical world, focusing on objects themselves and inter-object spatial relationships in a 3D scene respectively, and logistic reasoning, emotional reasoning, and safety reasoning are high-level reasoning skills built upon the two fundamental reasoning abilities to address user-centric real-world applications.

Model Overview

Getting Started

1. Installation

• We utilize at least 4 A100 GPU for training and inference.

• We test the code under the following environment:

  • CUDA 11.8
  • Python 3.9
  • PyTorch 2.1.0

• Git clone our repository and creating conda environment:

  git clone https://github.com/ZCMax/ScanReason.git
  conda create -n scanreason python=3.9
  conda activate scanreason
  pip install -r requirements.txt

• Follow EmbodiedScan Installation Doc to install embodiedscan series.

• Compile Pointnet2

  cd pointnet2
  python setup.py install --user

2. Data Preparation

1. Follow EmbodiedScan Data Preparation Doc to download the raw scan (RGB-D) datasets and modify the VIDEO_FOLDER in train_ds.sh to the raw data path.

2. Download the text annotations from Google Drive and modify the JSON_FOLDER in train_ds.sh to the annotations path, and modify the INFO_FILE data path which is included in the annotations.

3. Training ReGround3D

We provide the slurm training script with 4 A100 GPUs:

./scripts/train_ds.sh

4. Evaluation ReGround3D

After training, you can run the

./scripts/convert_zero_to_fp32.sh 

to convert the weights to pytorch_model.bin file, and then use

./scripts/merge_lora_weights.sh

to merge lora weight and obtain the final checkpoints under ReGround3D-7B.

Finally, run

./scripts/eval_ds.sh

to obtain the grounding results.

📝 TODO List

• [x] First Release.
• [x] Release ReGround3D code.
• [ ] Release ScanReason datasets and benchmark.

📄 License

This work is under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

👏 Acknowledgements

This repo benefits from LISA, EmbodiedScan, 3D-LLM, LLaVA.