相关论文: Is a 3D-Tokenized LLM the Key to Reliable Autonomo…

Existing Vision-Language models (VLMs) estimate either long-term trajectory waypoints or a set of control actions as a reactive solution for closed-loop planning based on their rich scene comprehension. However, these estimations are coarse…

Integrating vision-language models (VLMs) into end-to-end (E2E) autonomous driving (AD) systems has shown promise in improving scene understanding. However, existing integration strategies suffer from several limitations: they either…

Autoregressive Transformers are increasingly being deployed as end-to-end robot and autonomous vehicle (AV) policy architectures, owing to their scalability and potential to leverage internet-scale pretraining for generalization.…

Vision-language models (VLMs) struggle with 3D-related tasks such as spatial cognition and physical understanding, which are crucial for real-world applications like robotics and embodied agents. We attribute this to a modality gap between…

Text-to-3D generation has advanced rapidly, yet state-of-the-art models, encompassing both optimization-based and feed-forward architectures, still face two fundamental limitations. First, they struggle with coarse semantic alignment, often…

We address the problem of 3D object detection from 2D monocular images in autonomous driving scenarios. We propose to lift the 2D images to 3D representations using learned neural networks and leverage existing networks working directly on…

Large vision-language models (LVLMs) are increasingly deployed in interactive applications such as virtual and augmented reality, where a first-person (egocentric) view captured by head-mounted cameras serves as key input. While this view…

Vision Language Models (VLMs) employed for visual question-answering (VQA) in autonomous driving often require substantial computational resources that pose a challenge for their deployment in resource-constrained vehicles. To address this…

The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…

Spatial reasoning from monocular images is essential for autonomous driving, yet current Vision-Language Models (VLMs) still struggle with fine-grained geometric perception, particularly under large scale variation and ambiguous object…

The pursuit of autonomous driving technology hinges on the sophisticated integration of perception, decision-making, and control systems. Traditional approaches, both data-driven and rule-based, have been hindered by their inability to…

Current Vision-Language Model (VLM)-based end-to-end autonomous driving systems often leverage large language models to generate driving decisions directly based on their understanding of the current scene. However, such systems introduce…

Vision-language navigation (VLN) requires intelligent agents to navigate environments by interpreting linguistic instructions alongside visual observations, serving as a cornerstone task in Embodied AI. Current VLN research for unmanned…

Vision Language Models (VLMs) have advanced perception in autonomous driving (AD), but they remain vulnerable to adversarial threats. These risks range from localized physical patches to imperceptible global perturbations. Existing defense…

A reliable driving assistant should provide consistent responses based on temporally grounded reasoning derived from observed information. In this work, we investigate whether Vision-Language Models (VLMs), when applied as driving…

Autonomous driving is a complex task which requires advanced decision making and control algorithms. Understanding the rationale behind the autonomous vehicles' decision is crucial to ensure their safe and effective operation on highway…

Visual-Language Models (VLMs), with their strong capabilities in image and text understanding, offer a solid foundation for intelligent communications. However, their effectiveness is constrained by limited token granularity, overlong…

Recently, the remarkable advance of the Large Language Model (LLM) has inspired researchers to transfer its extraordinary reasoning capability to both vision and language data. However, the prevailing approaches primarily regard the visual…

Autonomous driving technology has the potential to transform transportation, but its wide adoption depends on the development of interpretable and transparent decision-making systems. Scene captioning, which generates natural language…

Autonomous driving, in recent years, has been receiving increasing attention for its potential to relieve drivers' burdens and improve the safety of driving. In modern autonomous driving pipelines, the perception system is an indispensable…