Related papers: CleanMAP: Distilling Multimodal LLMs for Confidenc…

Although recent large multimodal models (LMMs) demonstrate impressive progress on vision language tasks, their alignment with human centered (HC) principles, such as fairness, ethics, inclusivity, empathy, and robustness; remains poorly…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

The swift advancement and widespread availability of foundational Large Language Models (LLMs), complemented by robust fine-tuning methodologies, have catalyzed their adaptation for innovative and industrious applications. Enabling LLMs to…

We propose a lifelong 3D mapping framework that is modular, cloud-native by design and more importantly, works for both hand-held and robot-mounted 3D LiDAR mapping systems. Our proposed framework comprises of dynamic point removal,…

Temporal information plays a pivotal role in Bird's-Eye-View (BEV) driving scene understanding, which can alleviate the visual information sparsity. However, the indiscriminate temporal fusion method will cause the barrier of feature…

High-definition (HD) maps play a crucial role in autonomous driving systems. Recent methods have attempted to construct HD maps in real-time using vehicle onboard sensors. Due to the inherent limitations of onboard sensors, which include…

With the rapid progress of Multimodal LLMs, evaluating their mathematical reasoning capabilities has become an increasingly important research direction. In particular, visual-textual mathematical reasoning serves as a key indicator of an…

Language models trained on large-scale corpus often generate content that is harmful, toxic, or contrary to human preferences, making their alignment with human values a critical concern. Reinforcement learning from human feedback (RLHF)…

Vision-language alignment in multi-modal large language models (MLLMs) relies on supervised fine-tuning (SFT) or reinforcement learning (RL). To align multi-modal large language models (MLLMs) in the post-training stage, supervised…

With the emergence of LLMs and their integration with other data modalities, multi-modal 3D perception attracts more attention due to its connectivity to the physical world and makes rapid progress. However, limited by existing datasets,…

The hypothesis that pretrained large language models (LLMs) necessitate only minimal supervision during the fine-tuning (SFT) stage (Zhou et al., 2024) has been substantiated by recent advancements in data curation and selection research.…

The proliferation of multi-modal fake news on social media poses a significant threat to public trust and social stability. Traditional detection methods, primarily text-based, often fall short due to the deceptive interplay between…

Machine Learning (ML) is a fundamental part of modern perception systems. In the last decade, the performance of computer vision using trained deep neural networks has outperformed previous approaches based on careful feature engineering.…

Online High-Definition (HD) maps have emerged as the preferred option for autonomous driving, overshadowing the counterpart offline HD maps due to flexible update capability and lower maintenance costs. However, contemporary online HD map…

High-resolution (HR) image perception presents a key bottleneck for multimodal large language models (MLLMs). While visual search offers a promising solution, existing methods struggle with the trade-off between coverage and efficiency.…

Large language models (LLMs) are increasingly used as automated judges to evaluate recommendation systems, search engines, and other subjective tasks, where relying on human evaluators can be costly, time-consuming, and unscalable. LLMs…

Evaluating the performance of Multi-modal Large Language Models (MLLMs), integrating both point cloud and language, presents significant challenges. The lack of a comprehensive assessment hampers determining whether these models truly…

Large Language Models (LLMs) are a powerful tool for statistical text analysis, with derived sequences of next-token probability distributions offering a wealth of information. Extracting this signal typically relies on metrics such as…

For connected vehicles to have a substantial effect on road safety, it is required that accurate positions and trajectories can be shared. To this end, all vehicles must be accurately geolocalized in a common frame. This can be achieved by…

Human motion prediction is important for mobile service robots and intelligent vehicles to operate safely and smoothly around people. The more accurate predictions are, particularly over extended periods of time, the better a system can,…