# 3D-GRAND: A Million-Scale Dataset for 3D-LLMs with Better Grounding and Less Hallucination

arXiv: https://arxiv.org/abs/2406.05132 · HTML: https://mlsanity.com/paper/2406.05132/

## Key facts

- Cited by 36 papers in the map (data through 14 Oct 2026).
- Builds on 64 of its 85 references that are in the map.
- First posted on arXiv 7 Jun 2024.

## Builds on (most cited first, 30 of 64)

- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [Flamingo: a Visual Language Model for Few-Shot Learning](https://mlsanity.com/paper/2204.14198/) (2022)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [MiniGPT-4: Enhancing Vision-Language Understanding with Advanced Large Language Models](https://mlsanity.com/paper/2304.10592/) (2023)
- [FlashAttention-2: Faster Attention with Better Parallelism and Work Partitioning](https://mlsanity.com/paper/2307.08691/) (2023)
- [Sparks of Artificial General Intelligence: Early experiments with GPT-4](https://mlsanity.com/paper/2303.12712/) (2023)
- [Qwen-VL: A Versatile Vision-Language Model for Understanding, Localization, Text Reading, and Beyond](https://mlsanity.com/paper/2308.12966/) (2023)
- [Evaluating Object Hallucination in Large Vision-Language Models](https://mlsanity.com/paper/2305.10355/) (2023)
- [A Survey on Hallucination in Large Language Models: Principles, Taxonomy, Challenges, and Open Questions](https://mlsanity.com/paper/2311.05232/) (2023)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [Kosmos-2: Grounding Multimodal Large Language Models to the World](https://mlsanity.com/paper/2306.14824/) (2023)
- [Modeling Context in Referring Expressions](https://mlsanity.com/paper/1608.00272/) (2016)
- [AI2-THOR: An Interactive 3D Environment for Visual AI](https://mlsanity.com/paper/1712.05474/) (2017)
- [LISA: Reasoning Segmentation via Large Language Model](https://mlsanity.com/paper/2308.00692/) (2023)
- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)
- [Aligning Large Multimodal Models with Factually Augmented RLHF](https://mlsanity.com/paper/2309.14525/) (2023)
- [Object Hallucination in Image Captioning](https://mlsanity.com/paper/1809.02156/) (2018)
- [Habitat 2.0: Training Home Assistants to Rearrange their Habitat](https://mlsanity.com/paper/2106.14405/) (2021)
- [Ferret: Refer and Ground Anything Anywhere at Any Granularity](https://mlsanity.com/paper/2310.07704/) (2023)
- [OPERA: Alleviating Hallucination in Multi-Modal Large Language Models via Over-Trust Penalty and Retrospection-Allocation](https://mlsanity.com/paper/2311.17911/) (2023)
- [GLaMM: Pixel Grounding Large Multimodal Model](https://mlsanity.com/paper/2311.03356/) (2023)
- [ScanRefer: 3D Object Localization in RGB-D Scans using Natural Language](https://mlsanity.com/paper/1912.08830/) (2019)
- [3D-FRONT: 3D Furnished Rooms with layOuts and semaNTics](https://mlsanity.com/paper/2011.09127/) (2020)
- [ProcTHOR: Large-Scale Embodied AI Using Procedural Generation](https://mlsanity.com/paper/2206.06994/) (2022)
- [An Embodied Generalist Agent in 3D World](https://mlsanity.com/paper/2311.12871/) (2023)

## Built on by (most cited first, 30 of 36)

- [LayoutVLM: Differentiable Optimization of 3D Layout via Vision-Language Models](https://mlsanity.com/paper/2412.02193/) (2024)
- [Do Vision-Language Models Represent Space and How? Evaluating Spatial Frame of Reference Under Ambiguities](https://mlsanity.com/paper/2410.17385/) (2024)
- [Affordance-Guided Reinforcement Learning via Visual Prompting](https://mlsanity.com/paper/2407.10341/) (2024)
- [Unveiling the Mist over 3D Vision-Language Understanding: Object-centric Evaluation with Chain-of-Analysis](https://mlsanity.com/paper/2503.22420/) (2025)
- [SpaCE-10: A Comprehensive Benchmark for Multimodal Large Language Models in Compositional Spatial Intelligence](https://mlsanity.com/paper/2506.07966/) (2025)
- [Masked Point-Entity Contrast for Open-Vocabulary 3D Scene Understanding](https://mlsanity.com/paper/2504.19500/) (2025)
- [PerLA: Perceptive 3D Language Assistant](https://mlsanity.com/paper/2411.19774/) (2024)
- [PlaceIt3D: Language-Guided Object Placement in Real 3D Scenes](https://mlsanity.com/paper/2505.05288/) (2025)
- [Free-form language-based robotic reasoning and grasping](https://mlsanity.com/paper/2503.13082/) (2025)
- [SceneCOT: Eliciting Grounded Chain-of-Thought Reasoning in 3D Scenes](https://mlsanity.com/paper/2510.16714/) (2025)
- [ViGiL3D: A Linguistically Diverse Dataset for 3D Visual Grounding](https://mlsanity.com/paper/2501.01366/) (2025)
- [From Thousands to Billions: 3D Visual Language Grounding via Render-Supervised Distillation from 2D VLMs](https://mlsanity.com/paper/2502.20389/) (2025)
- [HIS-GPT: Towards 3D Human-In-Scene Multimodal Understanding](https://mlsanity.com/paper/2503.12955/) (2025)
- [HEAL: An Empirical Study on Hallucinations in Embodied Agents Driven by Large Language Models](https://mlsanity.com/paper/2506.15065/) (2025)
- [LMMs Meet Object-Centric Vision: Understanding, Segmentation, Editing and Generation](https://mlsanity.com/paper/2604.11789/) (2026)
- [CoNav: Collaborative Cross-Modal Reasoning for Embodied Navigation](https://mlsanity.com/paper/2505.16663/) (2025)
- [LEO-VL: Efficient Scene Representation for Scalable 3D Vision-Language Learning](https://mlsanity.com/paper/2506.09935/) (2025)
- [VULCAN: Tool-Augmented Multi Agents for Iterative 3D Object Arrangement](https://mlsanity.com/paper/2512.22351/) (2025)
- [3D-VCD: Hallucination Mitigation in 3D-LLM Embodied Agents through Visual Contrastive Decoding](https://mlsanity.com/paper/2604.08645/) (2026)
- [ObjVariantEnsemble: Advancing Point Cloud LLM Evaluation in Challenging Scenes with Subtly Distinguished Objects](https://mlsanity.com/paper/2412.14837/) (2024)
- [Situat3DChange: Situated 3D Change Understanding Dataset for Multimodal Large Language Model](https://mlsanity.com/paper/2510.11509/) (2025)
- [MCP4IFC: IFC-Based Building Design Using Large Language Models](https://mlsanity.com/paper/2511.05533/) (2025)
- [Decorum: A Language-Based Approach For Style-Conditioned Synthesis of Indoor 3D Scenes](https://mlsanity.com/paper/2503.18155/) (2025)
- [LLM-RG: Referential Grounding in Outdoor Scenarios using Large Language Models](https://mlsanity.com/paper/2509.25528/) (2025)
- [Lemon: A Unified and Scalable 3D Multimodal Model for Universal Spatial Understanding](https://mlsanity.com/paper/2512.12822/) (2025)
- [HOG-Layout: Hierarchical 3D Scene Generation, Optimization and Editing via Vision-Language Models](https://mlsanity.com/paper/2604.10772/) (2026)
- [3D Segmentation Using Viewpoint-Dependent Spatial Relationships](https://mlsanity.com/paper/2605.15708/) (2026)
- [CL3DOR: Contrastive Learning for 3D Large Multimodal Models via Odds Ratio on High-Resolution Point Clouds](https://mlsanity.com/paper/2501.03879/) (2025)
- [Large Language Models and 3D Vision for Intelligent Robotic Perception and Autonomy](https://mlsanity.com/paper/2511.11777/) (2025)
- [Scenes as Tokens: Multi-Scale Normal Distributions Transform Tokenizer for General 3D Vision-Language Understanding](https://mlsanity.com/paper/2511.21191/) (2025)

## Abstract (arXiv)

The integration of language and 3D perception is crucial for embodied agents and robots that comprehend and interact with the physical world. While large language models (LLMs) have demonstrated impressive language understanding and generation capabilities, their adaptation to 3D environments (3D-LLMs) remains in its early stages. A primary challenge is a lack of large-scale datasets with dense grounding between language and 3D scenes. We introduce 3D-GRAND, a pioneering large-scale dataset comprising 40,087 household scenes paired with 6.2 million densely-grounded scene-language instructions. Our results show that instruction tuning with 3D-GRAND significantly enhances grounding capabilities and reduces hallucinations in 3D-LLMs. As part of our contributions, we propose a comprehensive benchmark 3D-POPE to systematically evaluate hallucination in 3D-LLMs, enabling fair comparisons of models. Our experiments highlight a scaling effect between dataset size and 3D-LLM performance, emphasizing the importance of large-scale 3D-text datasets for embodied AI research. Our results demonstrate early signals for effective sim-to-real transfer, indicating that models trained on large synthetic data can perform well on real-world 3D scans. Through 3D-GRAND and 3D-POPE, we aim to equip the embodied AI community with resources and insights to lead to more reliable and better-grounded 3D-LLMs. Project website: https://3d-grand.github.io