Traditional denoising diffusion models are defined on finite-dimension Euclidean spaces (Song and Ermon, 2019; Song et al., 2021; Ho et al., 2020; Dhariwal and Nichol, 2021).
Given the super-rich semantics in 3D scenes, a crucial aspect of this task is achieving open-vocabulary segmentation that can handle regions and objects of various semantics including those with long-tail distributions.