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arXiv · 2502.20389

From Thousands to Billions: 3D Visual Language Grounding via Render-Supervised Distillation from 2D VLMs

Ang Cao·Sergio Arnaud·Oleksandr Maksymets·Jianing Yang·Ayush Jain·Sriram Yenamandra·Ada Martin·Vincent-Pierre Berges·Paul McVay·Ruslan Partsey·Aravind Rajeswaran·Franziska Meier·Justin Johnson·Jeong Joon Park·Alexander Sax
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Abstract

3D vision-language grounding faces a fundamental data bottleneck: while 2D models train on billions of images, 3D models have access to only thousands of labeled scenes--a six-order-of-magnitude gap that severely limits performance. We introduce $\textbf{LIFT-GS}$, a practical distillation technique that overcomes this limitation by using differentiable rendering to bridge 3D and 2D supervision. LIFT-GS predicts 3D Gaussian representations from point clouds and uses them to render predicted language-conditioned 3D masks into 2D views, enabling supervision from 2D foundation models (SAM, CLIP, LLaMA) without requiring any 3D annotations. This render-supervised formulation enables end-to-end training of complete encoder-decoder architectures and is inherently model-agnostic. LIFT-GS achieves state-of-the-art results with $25.7\%$ mAP on open-vocabulary instance segmentation (vs. $20.2\%$ prior SOTA) and consistent $10-30\%$ improvements on referential grounding tasks. Remarkably, pretraining effectively multiplies fine-tuning datasets by 2X, demonstrating strong scaling properties that suggest 3D VLG currently operates in a severely data-scarce regime. Project page: https://liftgs.github.io

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Ang Cao, Sergio Arnaud, Oleksandr Maksymets, Jianing Yang, Ayush Jain, Sriram Yenamandra, Ada Martin, Vincent-Pierre Berges, Paul McVay, Ruslan Partsey, Aravind Rajeswaran, Franziska Meier, Justin Johnson, Jeong Joon Park, Alexander Sax. 2025-06-09. From Thousands to Billions: 3D Visual Language Grounding via Render-Supervised Distillation from 2D VLMs. https://arxiv.org/abs/2502.20389

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