Related papers: MMDrive: Interactive Scene Understanding Beyond Vi…

The rising importance of 3D understanding, pivotal in computer vision, autonomous driving, and robotics, is evident. However, a prevailing trend, which straightforwardly resorted to transferring 2D alignment strategies to the 3D domain,…

The capability for open vocabulary perception represents a significant advancement in autonomous driving systems, facilitating the comprehension and interpretation of a wide array of textual inputs in real-time. Despite extensive research…

Vision-Language Models(VLMs) excel at autoregressive text generation, yet end-to-end autonomous driving requires multi-task learning with structured outputs and heterogeneous decoding behaviors, such as autoregressive language generation,…

This paper introduces Scene-LLM, a 3D-visual-language model that enhances embodied agents' abilities in interactive 3D indoor environments by integrating the reasoning strengths of Large Language Models (LLMs). Scene-LLM adopts a hybrid 3D…

Autonomous driving holds transformative potential but remains fundamentally constrained by the limited perception and isolated decision-making with standalone intelligence. While recent multi-agent approaches introduce cooperation, they…

Healthcare robotics requires robust multimodal perception and reasoning to ensure safety in dynamic clinical environments. Current Vision-Language Models (VLMs) demonstrate strong general-purpose capabilities but remain limited in temporal…

We provide a sober look at the application of Multimodal Large Language Models (MLLMs) in autonomous driving, challenging common assumptions about their ability to interpret dynamic driving scenarios. Despite advances in models like GPT-4o,…

Fusing sensors with complementary modalities is crucial for maintaining a stable and comprehensive understanding of abnormal driving scenes. However, Multimodal Large Language Models (MLLMs) are underexplored for leveraging multi-sensor…

Autonomous cars need geometric accuracy and semantic understanding to navigate complex environments, yet most stacks handle them separately. We present XYZ-Drive, a single vision-language model that reads a front-camera frame, a 25m…

Traffic safety remains a critical global challenge, with traditional Advanced Driver-Assistance Systems (ADAS) often struggling in dynamic real-world scenarios due to fragmented sensor processing and susceptibility to adversarial…

Recent advances in 4D imaging radar have enabled robust perception in adverse weather, while camera sensors provide dense semantic information. Fusing the these complementary modalities has great potential for cost-effective 3D perception.…

Recent advancements in multimodal fusion have witnessed the remarkable success of vision-language (VL) models, which excel in various multimodal applications such as image captioning and visual question answering. However, building VL…

Inspired by the fact that humans use diverse sensory organs to perceive the world, sensors with different modalities are deployed in end-to-end driving to obtain the global context of the 3D scene. In previous works, camera and LiDAR inputs…

Autonomous driving systems remain brittle in rare, ambiguous, and out-of-distribution scenarios, where human driver succeed through contextual reasoning. Shared autonomy has emerged as a promising approach to mitigate such failures by…

With the continuous emergence of various social media platforms frequently used in daily life, the multimodal meme understanding (MMU) task has been garnering increasing attention. MMU aims to explore and comprehend the meanings of memes…

Multimodal Large Language Models (MLLMs) often struggle to accurately perceive fine-grained visual details, especially when targets are tiny or visually subtle. This challenge can be addressed through semantic-visual information fusion,…

Learning to reliably perceive and understand the scene is an integral enabler for robots to operate in the real-world. This problem is inherently challenging due to the multitude of object types as well as appearance changes caused by…

Building 3D maps of the environment is central to robot navigation, planning, and interaction with objects in a scene. Most existing approaches that integrate semantic concepts with 3D maps largely remain confined to the closed-set setting:…

Autonomous driving requires the inference of actionable information such as detecting and classifying objects, and determining the drivable space. To this end, we present Multi-View LidarNet (MVLidarNet), a two-stage deep neural network for…

Advancing machine intelligence requires developing the ability to perceive across multiple modalities, much as humans sense the world. We introduce OmniVinci, an initiative to build a strong, open-source, omni-modal LLM. We carefully study…