ShapeLLM: Universal 3D Object Understanding for Embodied Interaction
This paper presents ShapeLLM, the first 3D Multimodal Large Language Model (LLM) designed for embodied interaction, exploring a universal 3D object understanding with 3D point clouds and languages. ShapeLLM is built upon an improved 3D encoder by extending ReCon to ReCon++ that benefits from multi-view image distillation for enhanced geometry understanding. By utilizing ReCon++ as the 3D point cloud input encoder for LLMs, ShapeLLM is trained on constructed instruction-following data and tested on our newly human-curated evaluation benchmark, 3D MM-Vet. ReCon++ and ShapeLLM achieve state-of-the-art performance in 3D geometry understanding and language-unified 3D interaction tasks, such as embodied visual grounding.
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Tasks
3D Object Captioning
3D Point Cloud Classification
3D Point Cloud Linear Classification
3D Question Answering (3D-QA)
Few-Shot 3D Point Cloud Classification
Generative 3D Object Classification
Instruction Following
Language Modelling
Large Language Model
Object
Visual Grounding
Zero-shot 3D classification
Zero-Shot Transfer 3D Point Cloud Classification
3D MM-Vet
ShapeNet
ModelNet
LVIS
ScanObjectNN
Objaverse
| Task | Dataset | Model | Metric Name | Metric Value | Global Rank | Uses Extra Training Data |
Benchmark |
|---|---|---|---|---|---|---|---|
| 3D Question Answering (3D-QA) | 3D MM-Vet | ShapeLLM-13B | Overall Accuracy | 53.1 | # 1 | ||
| 3D Question Answering (3D-QA) | 3D MM-Vet | ShapeLLM-7B | Overall Accuracy | 47.4 | # 2 | ||
| 3D Point Cloud Linear Classification | ModelNet40 | ReCon++ | Overall Accuracy | 93.6 | # 1 | ||
| Generative 3D Object Classification | ModelNet40 | ShapeLLM-13B | ModelNet40 (Average) | 52.96 | # 2 | ||
| LLM Size | 13B | # 1 | |||||
| Generative 3D Object Classification | ModelNet40 | ShapeLLM-7B | ModelNet40 (Average) | 53.08 | # 1 | ||
| LLM Size | 7B | # 1 | |||||
| 3D Point Cloud Classification | ModelNet40 | ReCon++ | Overall Accuracy | 95.0 | # 4 | ||
| Zero-Shot Transfer 3D Point Cloud Classification | ModelNet40 | ReCon++ | Accuracy (%) | 87.3 | # 3 | ||
| Few-Shot 3D Point Cloud Classification | ModelNet40 10-way (10-shot) | ReCon++ | Overall Accuracy | 94.5 | # 1 | ||
| Standard Deviation | 4.1 | # 13 | |||||
| Few-Shot 3D Point Cloud Classification | ModelNet40 10-way (20-shot) | ReCon++ | Overall Accuracy | 96.5 | # 1 | ||
| Standard Deviation | 3.0 | # 10 | |||||
| Few-Shot 3D Point Cloud Classification | ModelNet40 5-way (10-shot) | ReCon++ | Overall Accuracy | 98.0 | # 1 | ||
| Standard Deviation | 2.3 | # 11 | |||||
| Few-Shot 3D Point Cloud Classification | ModelNet40 5-way (20-shot) | ReCon++ | Overall Accuracy | 99.5 | # 1 | ||
| Standard Deviation | 0.8 | # 1 | |||||
| 3D Object Captioning | Objaverse | ShapeLLM-13B | GPT-4 | 48.94 | # 1 | ||
| Sentence-BERT | 48.52 | # 1 | |||||
| SimCSE | 49.98 | # 1 | |||||
| LLM Size (B) | 13 | # 3 | |||||
| 3D Object Captioning | Objaverse | ShapeLLM-7B | GPT-4 | 46.92 | # 3 | ||
| Sentence-BERT | 48.20 | # 2 | |||||
| SimCSE | 49.23 | # 2 | |||||
| LLM Size (B) | 7 | # 1 | |||||
| Generative 3D Object Classification | Objaverse | ShapeLLM-7B | Objaverse (Average) | 54.50 | # 1 | ||
| Generative 3D Object Classification | Objaverse | ShapeLLM-13B | Objaverse (Average) | 54.00 | # 2 | ||
| Zero-shot 3D classification | Objaverse LVIS | ReCon++ | Top 1 Accuracy | 53.7 | # 3 | ||
| Zero-Shot Transfer 3D Point Cloud Classification | ScanObjectNN | ReCon++ | OBJ_ONLY Accuracy(%) | 65.4 | # 1 | ||
| 3D Point Cloud Classification | ScanObjectNN | ReCon++ | Overall Accuracy | 95.25 | # 2 | ||
| OBJ-BG (OA) | 97.59 | # 1 | |||||
| OBJ-ONLY (OA) | 98.80 | # 1 |
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