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Hengshuo Chu

dblp:400/7924 · DBLP profile ↗
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1ranked-venue papers
1as first author
1since 2021 · last 2025
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1 · 1 first-author · 1 since 2021

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
3D vision · 33% Robot manipulation · 33% Language models and text generation · 33%

Topics — the 3 heaviest of 3, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Computer vision › 3D vision
3d scene understanding
0.912025
3D-AffordanceLLM: Harnessing Large Language Models for Open-Vocabulary Affordance Detection in 3D Worlds · ICLR 2025
Robotics › Robot manipulation › object perception
affordance detection
0.912025
3D-AffordanceLLM: Harnessing Large Language Models for Open-Vocabulary Affordance Detection in 3D Worlds · ICLR 2025
Natural language and speech › Language models and text generation
large language model
0.912025
3D-AffordanceLLM: Harnessing Large Language Models for Open-Vocabulary Affordance Detection in 3D Worlds · ICLR 2025

Methods — techniques the papers use, named apart from their topics

referring object part segmentation · 0.9multi-stage training · 0.9large language model · 0.9
YearPublicationVenuePosition
2025 3D-AffordanceLLM: Harnessing Large Language Models for Open-Vocabulary Affordance Detection in 3D Worlds
abstract
3D Affordance detection is a challenging problem with broad applications on various robotic tasks. Existing methods typically formulate the detection paradigm as a label-based semantic segmentation task. This paradigm relies on predefined labels and lacks the ability to comprehend complex natural language, resulting in limited generalization in open-world scene. To address these limitations, we reformulate the traditional affordance detection paradigm into \textit{Instruction Reasoning Affordance Segmentation} (IRAS) task. This task is designed to output a affordance mask region given a query reasoning text, which avoids fixed categories of input labels. We accordingly propose the \textit{3D-AffordanceLLM} (3D-ADLLM), a framework designed for reasoning affordance detection in 3D open-scene. Specifically, 3D-ADLLM introduces large language models (LLMs) to 3D affordance perception with a custom-designed decoder for generating affordance masks, thus achieving open-world reasoning affordance detection. In addition, given the scarcity of 3D affordance datasets for training large models, we seek to extract knowledge from general segmentation data and transfer it to affordance detection. Thus, we propose a multi-stage training strategy that begins with a novel pre-training task, i.e., \textit{Referring Object Part Segmentation}~(ROPS). This stage is designed to equip the model with general recognition and segmentation capabilities at the object-part level. Then followed by fine-tuning with the IRAS task, 3D-ADLLM obtains the reasoning ability for affordance detection. In summary, 3D-ADLLM leverages the rich world knowledge and human-object interaction reasoning ability of LLMs, achieving approximately an 8\% improvement in mIoU on open-vocabulary affordance detection tasks.
Hengshuo Chu, Xiang Deng 0002, Qi Lv 0001, Yinchuan Li, Jianye Hao, Liqiang Nie
ICLR1