mlsanityData to 14 Oct 2026

3EED: Ground Everything Everywhere in 3D

arXiv 2511.01755 ↗First posted 3 Nov 2025cs.CV cs.ROcited by 12

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Abstract (arXiv)

Visual grounding in 3D is the key for embodied agents to localize language-referred objects in open-world environments. However, existing benchmarks are limited to indoor focus, single-platform constraints, and small scale. We introduce 3EED, a multi-platform, multi-modal 3D grounding benchmark featuring RGB and LiDAR data from vehicle, drone, and quadruped platforms. We provide over 128,000 objects and 22,000 validated referring expressions across diverse outdoor scenes -- 10x larger than existing datasets. We develop a scalable annotation pipeline combining vision-language model prompting with human verification to ensure high-quality spatial grounding. To support cross-platform learning, we propose platform-aware normalization and cross-modal alignment techniques, and establish benchmark protocols for in-domain and cross-platform evaluations. Our findings reveal significant performance gaps, highlighting the challenges and opportunities of generalizable 3D grounding. The 3EED dataset and benchmark toolkit are released to advance future research in language-driven 3D embodied perception.

Key facts. Cited by 12 papers in the map (data through 14 Oct 2026). Builds on 90 of its 108 references that are in the map. First posted on arXiv 3 Nov 2025.

Builds on

90 of 108 references.

References · 90

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38 more
  1. 2023DriveLM: Driving with Graph Visual Question Answeringcited by 536
  2. 2021ARKitScenes: A Diverse Real-World Dataset For 3D Indoor Scene Understanding Using Mobile RGB-D Datacited by 454
  3. 2019ScanRefer: 3D Object Localization in RGB-D Scans using Natural Languagecited by 452
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  14. 2023Multi3DRefer: Grounding Text Description to Multiple 3D Objectscited by 146
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  16. 2022Multi-View Transformer for 3D Visual Groundingcited by 140
  17. 2023LLM-Grounder: Open-Vocabulary 3D Visual Grounding with Large Language Model as an Agentcited by 135
  18. 2024SceneVerse: Scaling 3D Vision-Language Learning for Grounded Scene Understandingcited by 133
  19. 2022Not All Points Are Equal: Learning Highly Efficient Point-based Detectors for 3D LiDAR Point Cloudscited by 131
  20. 2019xMUDA: Cross-Modal Unsupervised Domain Adaptation for 3D Semantic Segmentationcited by 129
  21. 2023Robo3D: Towards Robust and Reliable 3D Perception against Corruptionscited by 129
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50 most cited of 90 All 90 (JSON)

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 2; 2026: 10.

12 papers.

  1. 2025Vision-Language-Action Models for Autonomous Driving: Past, Present, and Futurecited by 33
  2. 2026WildDet3D: Scaling Promptable 3D Detection in the Wildcited by 14
  3. 2025U4D: Uncertainty-Aware 4D World Modeling from LiDAR Sequencescited by 7
  4. 2026Qwen-3D: A Generalist 3D Vision-Language Model for Spatial Understandingcited by 5
  5. 2026AdaSFormer: Adaptive Serialized Transformers for Monocular Semantic Scene Completion from Indoor Environmentscited by 3
  6. 2026OmniLiDAR: A Unified Diffusion Framework for Multi-Domain 3D LiDAR Generationcited by 2
  7. 2026EventDrive: Event Cameras for Vision-Language Driving Intelligencecited by 2
  8. 2026CitySTAR: Structured and Topology-Aware Reasoning for Open-Vocabulary Urban 3D Groundingcited by 0
  9. 2026EmbPASS: Towards Cross-Embodiment Open Panoramic Segmentationcited by 0
  10. 2026UniMetric: Universal Metric Scale Recovery for Visual Geometry Foundation Modelscited by 0
  11. 2026Urbex: Agentic Spatial Grounding for City-Scale 3D Scenescited by 0
  12. 2026VITAL: From Visual Motion to Precise Actioncited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2025From Objects to Anywhere: A Holistic Benchmark for Multi-level Visual Grounding in 3D Scenes
  2. 2026UniGround: Universal 3D Visual Grounding via Training-Free Scene Parsing
  3. 2025OpenGround: Planning-based Online Perception for Open-World 3D Visual Grounding
  4. 2026AgentGrounder: Zero-Shot 3D Visual Pointcloud Grounding using Multimodal Language Models
  5. 2025Zero-Shot 3D Visual Grounding from Vision-Language Models
  6. 2026Scaling Diverse Language Generation for 3D Visual Grounding
  7. 2026Grounded 3D-Aware Spatial Vision-Language Modeling
  8. 2026TempoGround: State-Aware Streaming Visual Grounding with Vision-Language Models