将不同帧$X_t$中的特征集合在M中特征点的公式：
本文提出的模型主要想解决3D密集标注和交互式规划。
结合
Recent works have explored aligning images and videos with LLM for a new generation of multi-modal LLMs that equip LLMs with the ability to understand and reason about 2D images.
但是仍缺少对于3D物理空间进行分析的模型, which involves richer concepts such as spatial relationships, affordances, physics and interaction so on.
