相关论文: Video Occupancy Models

Vision-Language-Action (VLA) models offer a compelling framework for tackling complex robotic manipulation tasks, but they are often expensive to train. In this paper, we propose a novel VLA approach that leverages the competitive…

Turn-taking management is crucial for any social interaction. Still, it is challenging to model human-machine interaction due to the complexity of the social context and its multimodal nature. Unlike conventional systems based on silence…

We propose DOME, a diffusion-based world model that predicts future occupancy frames based on past occupancy observations. The ability of this world model to capture the evolution of the environment is crucial for planning in autonomous…

With a growing interest in understanding neural network prediction strategies, Concept Activation Vectors (CAVs) have emerged as a popular tool for modeling human-understandable concepts in the latent space. Commonly, CAVs are computed by…

We study the use of image-based Vision-Language Models (VLMs) for open-vocabulary segmentation of lidar scans in driving settings. Classically, image semantics can be back-projected onto 3D point clouds. Yet, resulting point labels are…

Making predictions of future frames is a critical challenge in autonomous driving research. Most of the existing methods for video prediction attempt to generate future frames in simple and fixed scenes. In this paper, we propose a novel…

Predicting how the world can evolve in the future is crucial for motion planning in autonomous systems. Classical methods are limited because they rely on costly human annotations in the form of semantic class labels, bounding boxes, and…

Environment prediction frameworks are critical for the safe navigation of autonomous vehicles (AVs) in dynamic settings. LiDAR-generated occupancy grid maps (L-OGMs) offer a robust bird's-eye view for the scene representation, enabling…

Prevailing Vision-Language-Action Models (VLAs) for robotic manipulation are built upon vision-language backbones pretrained on large-scale, but disconnected static web data. As a result, despite improved semantic generalization, the policy…

The objective of this work is to learn an object-centric video representation, with the aim of improving transferability to novel tasks, i.e., tasks different from the pre-training task of action classification. To this end, we introduce a…

Recently, probabilistic predictive coding that directly models the conditional distribution of latent features across successive frames for temporal redundancy removal has yielded promising results. Existing methods using a single-scale…

The capability to widely sample the state and action spaces is a key ingredient toward building effective reinforcement learning algorithms. The variational optimization principles exposed in this paper emphasize the importance of an…

We present a large empirical investigation on the use of pre-trained visual representations (PVRs) for training downstream policies that execute real-world tasks. Our study involves five different PVRs, each trained for five distinct…

Recent embodied intelligence suffers from data scarcity, while conventional simulators lack visual realism. Controllable video generation is emerging as a promising data engine, yet current action-conditioned methods still fall short:…

By estimating 3D shape and instances from a single view, we can capture information about an environment quickly, without the need for comprehensive scanning and multi-view fusion. Solving this task for composite scenes (such as object…

Camera-based 3D semantic occupancy prediction offers an efficient and cost-effective solution for perceiving surrounding scenes in autonomous driving. However, existing works rely on explicit occupancy state inference, leading to numerous…

Achieving highly accurate and real-time 3D occupancy prediction from cameras is a critical requirement for the safe and practical deployment of autonomous vehicles. While this shift to sparse 3D representations solves the encoding…

Model predictive controllers use dynamics models to solve constrained optimal control problems. However, computational requirements for real-time control have limited their use to systems with low-dimensional models. Nevertheless,…

Occupancy prediction has increasingly garnered attention in recent years for its fine-grained understanding of 3D scenes. Traditional approaches typically rely on dense, regular grid representations, which often leads to excessive…

Accurate 3D scene understanding is essential for embodied intelligence, with occupancy prediction emerging as a key task for reasoning about both objects and free space. Existing approaches largely rely on depth priors (e.g., DepthAnything)…