用3D骨架与语言模型结合,让机器人自动分析植物根系结构并解释其生长规律。
Multimodal Plant Root Phenotyping with Integration of 3D Skeleton Extraction and Language Analysis

- 基于加权拉普拉斯收缩算法,从点云中无监督提取高保真根系骨架。
- 可量化计算根数、长度、分叉角等12种形态特征,支持跨物种分析。
- 用语言模型生成可解释的生物意义报告,适合农学研究者和智能育种团队。
植物根系表型分析是理解地下结构、优化作物管理及提升农业可持续性的基础。本文提出一种多模态机器人人工智能框架,将3D骨架提取与语言引导推理相结合,实现可解释且数据高效的根系分析。我们开发了基于加权拉普拉斯收缩(W-LBC)的无监督骨架提取网络,从机器人3D传感平台获取的密集点云中生成高保真结构表示。从重建的骨架图中计算出根数、长度、分叉角和密度等定量形态描述符,以捕捉几何与拓扑特征。在此基础上,引入证据优先的语言建模框架,通过自动生成的指令-响应对微调GPT,构建交互式分析聊天机器人。每个训练样本在自然语言推理前提供可量化的证据,使模型能基于数值结构进行语义推断。经监督微调后,GPT将数值特征与生物学意义关联,生成符合生物逻辑的生长模式与适应性特征解释。实验表明,该结构引导框架在12种具有不同根系构型的植物中均实现稳健、可解释的推理。通过融合无监督3D几何感知与大规模语言理解,本方法打通了定量分析与语义解释的鸿沟,建立了一种可解释的机器人植物根系表型新范式。
原文摘要 · Abstract (English)
Plant root phenotyping is fundamental to understanding below-ground structures, optimizing crop management, and improving agricultural sustainability. This paper presents a multimodal robotic AI framework that integrates 3D skeleton extraction with language-guided reasoning for interpretable and data-efficient root analysis. We develop an unsupervised skeleton extraction network based on Weighted Laplacian Contraction (W-LBC) to generate high-fidelity structural representations from dense point clouds captured by robotic 3D sensing platforms. Quantitative morphological descriptors, including root count, length, branching angle, and density, are computed from the reconstructed skeleton graph to capture geometric and topological characteristics. Building on these features, we introduce an Evidence-First language modeling framework that fine-tunes GPT as an interactive analytical chatbot using automatically generated instruction--response pairs. Each training sample provides measurable evidence before natural-language reasoning, enabling the model to ground interpretation in quantitative morphology. Through supervised fine-tuning, GPT associates numerical structure with semantic meaning, producing biologically consistent explanations of growth patterns and adaptive traits. Experiments show that the structure-guided framework achieves robust, interpretable reasoning across 12 plant species with diverse root architectures. By integrating unsupervised 3D geometric perception with large-scale language understanding, our approach bridges quantitative analysis and semantic interpretation, establishing a unified paradigm for explainable robotic plant root phenotyping.
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