ZeroKey detects 3D keypoints on unseen object categories by prompting the Molmo vision-language model on multiple rendered views and aggregating the back-projected points, with no 3D annotations required.
Unsuper- vised learning of intrinsic structural representation points
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ZeroKey: Point-Level Reasoning and Zero-Shot 3D Keypoint Detection from Large Language Models
ZeroKey detects 3D keypoints on unseen object categories by prompting the Molmo vision-language model on multiple rendered views and aggregating the back-projected points, with no 3D annotations required.