UniGround: Universal 3D Visual Grounding via Training-Free Scene Parsing

• URL: http://arxiv.org/abs/2603.08131v1
• Date: Mon, 09 Mar 2026 09:10:01 GMT
• Title: UniGround: Universal 3D Visual Grounding via Training-Free Scene Parsing
• Abstract summary: 3D Visual Grounding (3DVG) is a challenge in embodied AI, with broad implications for robotics, augmented reality, and human-machine interaction.<n>Large-scale pre-trained foundation models have driven significant progress on this front, enabling open-vocabulary 3DVG that allows systems to locate arbitrary objects in a given scene.<n>In this paper, we replace this constrained perception with training-free visual and geometric reasoning, thereby unlocking open-world 3DVG.
• Score: 21.246395901914376
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Understanding and localizing objects in complex 3D environments from natural language descriptions, known as 3D Visual Grounding (3DVG), is a foundational challenge in embodied AI, with broad implications for robotics, augmented reality, and human-machine interaction. Large-scale pre-trained foundation models have driven significant progress on this front, enabling open-vocabulary 3DVG that allows systems to locate arbitrary objects in a given scene. However, their reliance on pre-trained models constrains 3D perception and reasoning within the inherited knowledge boundaries, resulting in limited generalization to unseen spatial relationships and poor robustness to out-of-distribution scenes. In this paper, we replace this constrained perception with training-free visual and geometric reasoning, thereby unlocking open-world 3DVG that enables the localization of any object in any scene beyond the training data. Specifically, the proposed UniGround operates in two stages: a Global Candidate Filtering stage that constructs scene candidates through training-free 3D topology and multi-view semantic encoding, and a Local Precision Grounding stage that leverages multi-scale visual prompting and structured reasoning to precisely identify the target object. Experiments on ScanRefer and EmbodiedScan show that UniGround achieves 46.1\%/34.1\% Acc@0.25/0.5 on ScanRefer and 28.7\% Acc@0.25 on EmbodiedScan, establishing a new state-of-the-art among zero-shot methods on EmbodiedScan without any 3D supervision. We further evaluate UniGround in real-world environments under uncontrolled reconstruction conditions and substantial domain shift, showing training-free reasoning generalizes robustly beyond curated benchmarks.

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