# Open-Vocabulary 3D Object Detection with Co-Distillation Discovery and Dual Guidance Robust Training

arXiv: https://arxiv.org/abs/2608.19973 · HTML: https://mlsanity.com/paper/2608.19973/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 46 of its 52 references that are in the map.
- First posted on arXiv 20 Aug 2026.

## Builds on (most cited first, 30 of 46)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Flamingo: a Visual Language Model for Few-Shot Learning](https://mlsanity.com/paper/2204.14198/) (2022)
- [BLIP: Bootstrapping Language-Image Pre-training for Unified Vision-Language Understanding and Generation](https://mlsanity.com/paper/2201.12086/) (2022)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?](https://mlsanity.com/paper/1703.04977/) (2017)
- [LVIS: A Dataset for Large Vocabulary Instance Segmentation](https://mlsanity.com/paper/1908.03195/) (2019)
- [Grounded Language-Image Pre-training](https://mlsanity.com/paper/2112.03857/) (2021)
- [OpenAI GPT-5 System Card](https://mlsanity.com/paper/2601.03267/) (2025)
- [Open-vocabulary Object Detection via Vision and Language Knowledge Distillation](https://mlsanity.com/paper/2104.13921/) (2021)
- [Deep Hough Voting for 3D Object Detection in Point Clouds](https://mlsanity.com/paper/1904.09664/) (2019)
- [Detecting Twenty-thousand Classes using Image-level Supervision](https://mlsanity.com/paper/2201.02605/) (2022)
- [Open-Vocabulary Object Detection Using Captions](https://mlsanity.com/paper/2011.10678/) (2020)
- [An End-to-End Transformer Model for 3D Object Detection](https://mlsanity.com/paper/2109.08141/) (2021)
- [A Simple Framework for Open-Vocabulary Segmentation and Detection](https://mlsanity.com/paper/2303.08131/) (2023)
- [DetCLIP: Dictionary-Enriched Visual-Concept Paralleled Pre-training for Open-world Detection](https://mlsanity.com/paper/2209.09407/) (2022)
- [On the Pitfalls of Heteroscedastic Uncertainty Estimation with Probabilistic Neural Networks](https://mlsanity.com/paper/2203.09168/) (2022)
- [DetCLIPv2: Scalable Open-Vocabulary Object Detection Pre-training via Word-Region Alignment](https://mlsanity.com/paper/2304.04514/) (2023)
- [SESS: Self-Ensembling Semi-Supervised 3D Object Detection](https://mlsanity.com/paper/1912.11803/) (2019)
- [Open-Vocabulary Point-Cloud Object Detection without 3D Annotation](https://mlsanity.com/paper/2304.00788/) (2023)
- [CLIP2: Contrastive Language-Image-Point Pretraining from Real-World Point Cloud Data](https://mlsanity.com/paper/2303.12417/) (2023)
- [3D-LLaVA: Towards Generalist 3D LMMs with Omni Superpoint Transformer](https://mlsanity.com/paper/2501.01163/) (2025)
- [Hierarchical Open-vocabulary Universal Image Segmentation](https://mlsanity.com/paper/2307.00764/) (2023)
- [CoDA: Collaborative Novel Box Discovery and Cross-modal Alignment for Open-vocabulary 3D Object Detection](https://mlsanity.com/paper/2310.02960/) (2023)
- [Cubify Anything: Scaling Indoor 3D Object Detection](https://mlsanity.com/paper/2412.04458/) (2024)
- [Uni3DETR: Unified 3D Detection Transformer](https://mlsanity.com/paper/2310.05699/) (2023)

## Abstract (arXiv)

Recently, open-vocabulary 3D object detection (3D-OVD) has gained increasing attention for its ability to detect unseen objects in 3D scenes. Existing approaches typically adopt a two-stage pipeline that first discovers novel objects using foundation models and then trains a 3D-OVD model based on these discovered objects. Although effective, this pipeline often suffers from inaccurate localization and mismatched classification during the discovery stage, which subsequently limits the performance of the model training stage. To address these limitations, we advocate for improving both the reliability of novel object discovery and the robustness of model training, and propose an innovative framework. Specifically, for reliable discovery, our co-distillation strategy distills high-quality novel objects by applying Hungarian matching over a comprehensive score that incorporates geometric consistency, structural objectness, and semantic certainty. To enhance robust model training, we further propose a dual-guidance learning scheme, incorporating a scene-awareness-guided uncertainty regularization for the regression head and an LLM-guided hierarchical alignment for the classification head, effectively mitigating the negative effects of imprecise 3D bounding boxes and semantic ambiguity. Extensive experiments on SUN RGB-D and ScanNetV2 demonstrate that our method achieves significant performance gains over state-of-the-art approaches. Code is available at https://github.com/shangboyuan/Co-3DGT