3-Dimensional Embodied Reference Understanding (3D-ERU) combines a language description and an accompanying pointing gesture to identify the most relevant target object in a 3D scene. Although prior work has explored pure language-based 3D grounding, there has been limited exploration of 3D-ERU, which also incorporates human pointing gestures. To address this gap, we introduce a data augmentation framework– Imputer, and use it to curate a new benchmark dataset– ImputeRefer for 3D-ERU, by incorporating human pointing gestures into existing 3D scene datasets that only contain language instructions. We also propose Ges3ViG, a novel model for 3D-ERU that achieves ~30% improvement in accuracy as compared to other 3D-ERU models and ~9% compared to other purely language-based 3D grounding models. Our code and dataset are available at https://github.com/AtharvMane/Ges3ViG.

A common approach to interpreting multilingual language models is to evaluate their internal representations. For example, studies have found that languages occupy distinct subspaces in the models’ representation spaces, and geometric distances between languages often reflect linguistic properties such as language families and typological features. In our work, we investigate whether geometric distances between language representations correlate with zero-shot crosslingual transfer performance for POS-tagging and NER in three multilingual language models. We consider four distance metrics, including new metrics that identify a basis for a multilingual representation space that sorts axes based on their language-separability. We find that each distance metric either only moderately correlates or does not correlate with crosslingual transfer performance, and metrics do not generalize well across models, layers, and tasks. Although pairwise language separability is a reasonable predictor of crosslingual transfer, representational geometry overall is an inconsistent predictor for the crosslingual performance of multilingual language models.