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Vision-based autonomous driving has gained much attention due to its low costs and excellent performance. Compared with dense BEV (Bird's Eye View) or sparse query models, Gaussian-centric method is a comprehensive yet sparse representation…

Multimodal Large Language Models (MLLMs) are widely regarded as crucial in the exploration of Artificial General Intelligence (AGI). The core of MLLMs lies in their capability to achieve cross-modal alignment. To attain this goal, current…

Autonomous driving systems face significant challenges in handling unpredictable edge-case scenarios, such as adversarial pedestrian movements, dangerous vehicle maneuvers, and sudden environmental changes. Current end-to-end driving models…

Fine-tuning large-scale Transformers has led to the explosion of many AI applications across Natural Language Processing and Computer Vision tasks. However, fine-tuning all pre-trained model parameters becomes impractical as the model size…

Vision-Language-Action (VLA) models have emerged as a promising framework for end-to-end autonomous driving. However, existing VLAs typically rely on sparse action supervision, which underutilizes their powerful scene understanding and…

This study introduces the Perception Latency Mitigation Network (PLM-Net), a modular deep learning framework designed to mitigate perception latency in vision-based imitation-learning lane-keeping systems. Perception latency, defined as the…

Recent advancements in open-source Visual Language Models (VLMs) such as LLaVA, Qwen-VL, and Llama have catalyzed extensive research on their integration with diverse systems. The internet-scale general knowledge encapsulated within these…

Autonomous offroad driving is essential for applications like emergency rescue, military operations, and agriculture. Despite progress, systems struggle with high-speed vehicles exceeding 10m/s due to the need for accurate long-range (>…

Video Temporal Grounding (VTG), the task of localizing video segments from text queries, struggles in open-world settings due to limited dataset scale and semantic diversity, causing performance gaps between common and rare concepts. To…

In Autonomous Driving (AD), real-time perception is a critical component responsible for detecting surrounding objects to ensure safe driving. While researchers have extensively explored the integrity of AD perception due to its safety and…

Autonomous Vehicle (AV) systems have been developed with a strong reliance on machine learning techniques. While machine learning approaches, such as deep learning, are extremely effective at tasks that involve observation and…

Large Language Models (LLMs), benefiting from the auto-regressive modelling approach performed on massive unannotated texts corpora, demonstrates powerful perceptual and reasoning capabilities. However, as for extending auto-regressive…

When planning for autonomous driving, it is crucial to consider essential traffic elements such as lanes, intersections, traffic regulations, and dynamic agents. However, they are often overlooked by the traditional end-to-end planning…

Steering a car through traffic is a complex task that is difficult to cast into algorithms. Therefore, researchers turn to training artificial neural networks from front-facing camera data stream along with the associated steering angles.…

Vision Transformers (ViTs) often degrade under distribution shifts because they rely on spurious correlations, such as background cues, rather than semantically meaningful features. Existing regularization methods, typically relying on…

We introduce UniGen, a unified multimodal large language model (MLLM) capable of image understanding and generation. We study the full training pipeline of UniGen from a data-centric perspective, including multi-stage pre-training,…

With the unprecedented shift towards automated urban environments in recent years, a new paradigm is required to study pedestrian behaviour. Studying pedestrian behaviour in futuristic scenarios requires modern data sources that consider…

Integrating large language model (LLM) representations into multimodal recommendation has shown promise, yet a fundamental challenge remains largely overlooked: the semantic heterogeneity between generative LM representations and the…

Diffusion large language models (dLLMs) are emerging as promising alternatives to autoregressive (AR) LLMs. Recently, this paradigm has been extended to multimodal tasks, leading to the development of diffusion multimodal large language…

This paper presents a novel approach to enhance Model Predictive Control (MPC) for legged robots through Distributed Optimization. Our method focuses on decomposing the robot dynamics into smaller, parallelizable subsystems, and utilizing…