ROBOTICS

RESEARCH

Locate 3D: Real-World Object Localization via Self-Supervised Learning in 3D

April 17, 2025

Abstract

We present Locate 3D, a model for localizing objects in 3D scenes from referring expressions like “the small coffee table between the sofa and the lamp.” Locate 3D sets a new state-of-the-art on standard referential grounding benchmarks and showcases robust generalization capabilities. Notably, Locate 3D operates directly on sensor observation streams (posed RGB-D frames), enabling real-world deployment on robots and AR devices. Key to our approach is 3D-JEPA, a novel self-supervised learning (SSL) algorithm applicable to sensor point clouds. It takes as input a 3D pointcloud featurized using 2D foundation models (CLIP, DINO). Subsequently, masked prediction in latent space is employed as a pretext task to aid the self-supervised learning of contextualized pointcloud features. Once trained, the 3D-JEPA encoder is finetuned alongside a language-conditioned decoder to jointly predict 3D masks and bounding boxes. Additionally, we introduce Locate 3D Dataset, a new dataset for 3D referential grounding, spanning multiple capture setups with over 130K annotations. This enables a systematic study of generalization capabilities as well as a stronger model.

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AUTHORS

Written by

Paul McVay

Sergio Arnaud

Ada Martin

Arjun Majumdar

Krishna Murthy Jatavallabhula

Phillip Thomas

Ruslan Partsey

Daniel Dugas

Abha Gejji

Alexander Sax

Vincent-Pierre Berges

Mikael Henaff

Ayush Jain

Ang Cao

Ishita Prasad

Mrinal Kalakrishnan

Mike Rabbat

Nicolas Ballas

Mido Assran

Oleksandr Maksymets

Aravind Rajeswaran

Franziska Meier

Publisher

arXiv

Research Topics

Robotics

Computer Vision

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