Retrieve-to-Localize: Bridging Large Language Models and LiDAR Geometry for Spatial Grounding

arXiv:2609.29835 · cs.CV, cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-09-24

Updated: 2026-09-24

Comments: 8 pages

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Grounding — 44× in this paper · explained in 3 episodes
• Accuracy — 15× in this paper · explained in 1 episode
• Benchmark — 6× in this paper · explained in 2 episodes
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Conference on Computer Vision and Pattern Recognition — 2× in this paper
• Consistency — 2× in this paper · explained in 3 episodes
• Point-Retrieved Localization — 2× in this paper
• Temporal Reasoning — 2× in this paper · explained in 2 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Adaptive Reasoning — 1× in this paper · explained in 2 episodes
• Aggregation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Contrastive Learning — 1× in this paper · explained in 5 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• IEEE Intelligent Vehicles Symposium — 1× in this paper
• Instruction Tuning — 1× in this paper · explained in 2 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• LoRA Adapters — 1× in this paper · explained in 3 episodes
• Multimodal Learning — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Semantic Similarity — 1× in this paper · explained in 2 episodes
• Semantic Understanding — 1× in this paper · explained in 2 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• Shikra: Unleashing Multimodal LLM's Referential Dialogue Magic

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